[doc][py] Elaborate playPattern* methods.

fkanehiro · Mar 24, 2017 · eb5e2dc · eb5e2dc
1 parent b18fa76
commit eb5e2dc
Showing 1 changed file with 26 additions and 15 deletions.
diff --git a/python/hrpsys_config.py b/python/hrpsys_config.py
@@ -1932,10 +1932,10 @@ def playPattern(self, jointangles, rpy, zmp, tm):
         Play motion pattern using a given trajectory that is represented by 
         a list of joint angles, rpy, zmp and time.
 
-        @param jointangles list of list of float: 
-                           The whole list represents a trajectory. Each element
-                           of the 1st degree in the list consists of the joint
-                           angles.
+        @type jointangles: [[float]]
+        @param jointangles: Sequence of the sets of joint angles in radian.
+                            The whole list represents a trajectory. Each element
+                            of the 1st degree in the list consists of the joint angles.
         @param rpy list of float: Orientation in rpy.
         @param zmp list of float: TODO: description
         @param tm float: Time to complete the task.
@@ -1946,19 +1946,30 @@ def playPattern(self, jointangles, rpy, zmp, tm):
     def playPatternOfGroup(self, gname, jointangles, tm):
         '''!@brief
         Play motion pattern using a given trajectory that is represented by 
-        a list of joint angles.
+        a list of joint angles. 
+
+        Example:
+            self.playPatternOfGroup('larm',
+                                    [[0.0, 0.0, -2.2689280275926285, 0.0, 0.0, 0.0],
+                                     [0.0, 0.0, -1.9198621771937625, 0.0, 0.0, 0.0],
+                                     [0.0, 0.0, -1.5707963, 0.0, 0.0, 0.0]],
+                                    [3, 3, 10])
 
         @param gname str: Name of the joint group.
-        @param jointangles list of list of float: 
-                           The whole list represents a trajectory. Each element
-                           of the 1st degree in the list consists of the joint
-                           angles. To illustrate:
-
-                           [[a0-0, a0-1,...,a0-n], # a)ngle. 1st path in trajectory
-                            [a1-0, a1-1,...,a1-n], # 2nd path in the trajectory.
-                            :
-                            [am-0, am-1,...,am-n]]  # mth path in the trajectory
-        @param tm float: Time to complete the task.
+        @type jointangles: [[float]]
+        @param jointangles: Sequence of the sets of joint angles in radian.
+                            The whole list represents a trajectory. Each element
+                            of the 1st degree in the list consists of the joint
+                            angles. To illustrate:
+
+                            [[a0-0, a0-1,...,a0-n], # a)ngle. 1st path in trajectory
+                             [a1-0, a1-1,...,a1-n], # 2nd path in the trajectory.
+                             :
+                             [am-0, am-1,...,am-n]]  # mth path in the trajectory
+        @type tm: [float]
+        @param tm float: Sequence of the time values to complete the task,
+                         each element of which corresponds to a set of jointangles
+                         in the same order.
         @return bool:
         '''
         return self.seq_svc.playPatternOfGroup(gname, jointangles, tm)