ERobot.fkine allows degrees

petercorke · petercorke · commit 6e7e5816a9ed · 2021-04-08T12:42:54.000+10:00
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -2129,8 +2129,9 @@ def jacob0(self, q):
     def jacobe(self, q):
         return self.ets().jacobe(q)
 
-    def fkine(self, q):
-        return self.ets().eval(q)
+    def fkine(self, q, unit='rad'):
+
+        return self.ets().eval(q, unit=unit)
 # --------------------------------------------------------------------- #
 
     def plot(
