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add class documentation #123

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add class documentation #123

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f30c9f3
add class documentation
k-okada Sep 1, 2014
3376af8
Merge branch 'master' into add_class_documentation
k-okada Jul 11, 2018
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6 changes: 3 additions & 3 deletions irteus/irtmodel.l
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,8 @@
:slots (parent-link child-link joint-angle min-angle max-angle default-coords
joint-velocity joint-acceleration joint-torque
max-joint-velocity max-joint-torque
joint-min-max-table joint-min-max-target))
joint-min-max-table joint-min-max-target)
:documentation "abstract class of joint, users need to use rotational-joint, linear-joint, sphere-joint, 6dof-joint, wheel-joint or omniwheel-joint." )

(defmethod joint
(:init (&key (name (intern (format nil "joint~A" (sys::address self)) "KEYWORD"))
Expand All @@ -44,8 +45,7 @@
((:joint-min-max-table mm-table))
((:joint-min-max-target mm-target))
&allow-other-keys)
"abstract class of joint, users need to use rotational-joint, linear-joint, sphere-joint, 6dof-joint, wheel-joint or omniwheel-joint.
use :parent-link/:child-link for specifying links that this joint connect to and :min/:min for range of joint angle in degree."
"use :parent-link/:child-link for specifying links that this joint connect to and :min/:min for range of joint angle in degree."
(send self :name name)
(setq parent-link plink child-link clink
min-angle min max-angle max)
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