Merge branch 'master' of github.com:petercorke/robotics-toolbox-python

Author: jhavl

.github/workflows/pythonpackage.yml

@@ -68,6 +68,8 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         pip install .[docs]
+        pip install git+https://github.com/petercorke/sphinx-autorun.git
+        sudo apt-get install graphviz
     - name: Build docs
       run: |
         cd docs

docs/Makefile

@@ -3,7 +3,7 @@
 
 # You can set these variables from the command line, and also
 # from the environment for the first two.
-SPHINXOPTS    ?=
+SPHINXOPTS    ?= -j 4
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = source
 BUILDDIR      = build

docs/source/arm.rst

@@ -7,7 +7,7 @@ Manipulator arms
 
    arm_dh
    arm_ets
-   arm_urdf
+   arm_erobot
    arm_superclass
    arm_backend
    arm_trajectory

docs/source/arm_dh.rst

@@ -3,7 +3,11 @@ Denavit-Hartenberg models
 
 .. codeauthor:: Jesse Haviland
 
+This class is used to model robots defined in terms of standard or modified
+Denavit-Hartenberg notation.
 
+.. note:: These classes are similar to MATLAB Toolbox ``SerialLink`` and
+   ``Link`` classes.
 
 DHRobot
 -------

docs/source/arm_urdf.rst docs/source/arm_erobot.rstdocs/source/arm_urdf.rst renamed to docs/source/arm_erobot.rst

@@ -1,11 +1,11 @@
-URDF Robot models
-=================
+ERobot models
+=============
 
 .. codeauthor:: Jesse Haviland
 
 
 ERobot
--------
+------
 
 .. inheritance-diagram:: roboticstoolbox.ERobot
    :top-classes: roboticstoolbox.Robot
@@ -37,8 +37,27 @@ The ``ERobot`` is defined by a tree of ``ELink`` subclass objects.
 
 .. _E Models:
 
-Models
-------
+ERobot models
+-------------
+
+Defined using ETS
+^^^^^^^^^^^^^^^^^
+
+A number of models are defined in terms of elementary transform sequences.  
+They can be listed by:
+
+.. runblock:: pycon
+
+   >>> import roboticstoolbox as rtb 
+   >>> rtb.models.list(mtype="ETS")
+
+.. automodule:: roboticstoolbox.models.ETS
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Defined from URDF
+^^^^^^^^^^^^^^^^^
 
 A number of models are defined in terms of Denavit-Hartenberg parameters, either
 standard or modified.  They can be listed by:

docs/source/arm_ets.rst

@@ -59,6 +59,8 @@ This approach is general enough to be able to describe any serial-link robot
 manipulator.  For a branched manipulator we can use ETS to describe the
 connections between every parent and child link pair.
 
+The ETS inherits list-like properties and has methods like ``reverse`` and ``pop``.
+
 **Reference:**
 
    - `A simple and systematic approach to assigning Denavit-Hartenberg parameters <https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters>`_.
@@ -68,25 +70,15 @@ ETS - 3D
 --------
 
 .. autoclass:: roboticstoolbox.robot.ETS.ETS
-   :members: rx, ry, rz, tx, ty, tz, eta, eval, T, joints, axis, jtype, config, __getitem__, __mul__, __repr__, __str__
+   :members: rx, ry, rz, tx, ty, tz, eta, n, joints, isjoint, isconstant, isrevolute, isprismatic, axis, config, __getitem__, pop, __mul__, __repr__, __str__, T, eval, jacob0, hessian0
    :undoc-members:
    :show-inheritance:
 
 ETS - 2D
 --------
 
-.. autoclass:: roboticstoolbox.robot.ETS2.ETS
-   :members: rx, ry, rz, tx, ty, tz, eta, eval, T, joints, axis, jtype, config, __getitem__, __mul__, __repr__, __str__
+.. autoclass:: roboticstoolbox.robot.ETS.ETS2
+   :members: r, tx, ty, eta, n, joints, isjoint, isconstant, isrevolute, isprismatic, axis, config, __getitem__, pop, __mul__, __repr__, __str__, T, eval
    :undoc-members:
    :show-inheritance:
 
-ETS Robot models
-----------------
-
-A number of models are defined in terms of elementary transform sequences.  
-They can be listed by:
-
-.. runblock:: pycon
-
-   >>> import roboticstoolbox as rtb 
-   >>> rtb.models.list(mtype="ETS")

docs/source/conf.py

@@ -18,7 +18,7 @@
 
 # -- Project information -----------------------------------------------------
 
-project = 'Robotics Toolbox Python'
+project = 'Robotics Toolbox for Python'
 copyright = '2020, Jesse Haviland and Peter Corke'
 author = 'Jesse Haviland and Peter Corke'
 
@@ -42,58 +42,73 @@
     'sphinx.ext.inheritance_diagram',
     'sphinx_autorun',
     ]
-    #'recommonmark',
-    #'sphinx.ext.autosummary',
-    #     'sphinx_markdown_tables',  
-
 
 autosummary_generate = True
 autodoc_member_order = 'bysource'
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
 
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
 exclude_patterns = ['test_*']
 
+# options for spinx_autorun, used for inline examples
+#  choose UTF-8 encoding to allow for Unicode characters, eg. ansitable
+#  Python session setup, turn off color printing for SE3, set NumPy precision
+autorun_languages = {}
+autorun_languages['pycon_output_encoding'] = 'UTF-8'
+autorun_languages['pycon_input_encoding'] = 'UTF-8'
+autorun_languages['pycon_runfirst'] = """
+from spatialmath import SE3
+SE3._color = False
+import numpy as np
+np.set_printoptions(precision=4, suppress=True)
+from ansitable import ANSITable
+ANSITable._color = False
+"""
 
 # -- Options for HTML output -------------------------------------------------
 
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
 html_theme = 'sphinx_rtd_theme'
 
 html_theme_options = {
-'github_user': 'petercorke',
+    'github_user': 'petercorke',
     #'github_repo': 'spatialmath-python',
     #'logo_name': False,
     'logo_only': False,
     #'description': 'Spatial maths and geometry for Python',
     'display_version': True,
     'prev_next_buttons_location': 'both',
     'analytics_id': 'G-11Q6WJM565',
+    'style_external_links': True,
     }
 html_logo = '../figs/RobToolBox_RoundLogoB.png'
 html_last_updated_fmt = '%d-%b-%Y'
 show_authors = True
 
+# mathjax_config = {
+#     "jax": ["input/TeX","output/HTML-CSS"],
+#     "displayAlign": "left"
+# }
+
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
 # html_static_path = ['_static']
 
 # autodoc_mock_imports = ["numpy", "scipy"] 
 
-# extensions = ['rst2pdf.pdfbuilder']
-# pdf_documents = [('index', u'rst2pdf', u'Sample rst2pdf doc', u'Your Name'),]
-autorun_languages = {}
-autorun_languages['pycon_output_encoding'] = 'UTF-8'
-autorun_languages['pycon_initial_code'] = [
-        "from spatialmath import SE3", 
-        "SE3._color = False",
-        "import numpy as np",
-        "np.set_printoptions(precision=4, suppress=True)",
-        ]
+
+# -- Options for LaTeX/PDF output --------------------------------------------
+latex_engine = 'xelatex'
+# maybe need to set graphics path in here somewhere
+# \graphicspath{{figures/}{../figures/}{C:/Users/me/Documents/project/figures/}}
+# https://stackoverflow.com/questions/63452024/how-to-include-image-files-in-sphinx-latex-pdf-files
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    'papersize': 'a4paper',
+    #'releasename':" ",
+    # Sonny, Lenny, Glenn, Conny, Rejne, Bjarne and Bjornstrup
+    # 'fncychap': '\\usepackage[Lenny]{fncychap}',
+    'fncychap': '\\usepackage{fncychap}',
+    'maketitle': "blah blah blah"
+}