# Commits

committed 128f17a

joints.Rotary: fixed/added docstrings to all methods.

• Participants
• Parent commits fe62c2b

# File ars/model/robot/joints.py

` 			raise exc.PhysicsObjectCreationError(type_='Rotary joint')`
` `
` 	def add_torque(self, torque):`
`-		"""Applies the torque about the rotation axis`
`-		torque: float`
`+		"""Apply torque about the rotation axis.`
`+`
`+		:param torque: magnitude`
`+		:type torque: float`
`+`
` 		"""`
` 		dispatcher.send(signals.JOINT_PRE_ADD_TORQUE, sender=self,`
` 		                torque=torque)`
` `
` 	@property`
` 	def angle(self):`
`-		"""Returns the angle (float) between the two bodies. Its value is`
`-		between -pi and +pi. The zero angle is determined by the position of`
`-		the bodies when joint anchor is set."""`
`+		"""Return the angle between the two bodies.`
`+`
`+		The zero angle is determined by the position of the bodies`
`+		when joint's anchor was set.`
`+`
`+		:return: value ranging ``-pi`` and ``+pi```
`+		:rtype: float`
`+`
`+		"""`
` 		try:`
` 			return self._inner_joint.getAngle()`
` 		except:`
` `
` 	@property`
` 	def angle_rate(self):`
`-		"""Returns the angle rate (float)"""`
`+		"""Return the rate of change of the angle between the two bodies.`
`+`
`+		:return: angle rate`
`+		:rtype: float`
`+`
`+		"""`
` 		try:`
` 			return self._inner_joint.getAngleRate()`
` 		except:`
` 			raise exc.JointError(self, 'Failed to get the angle rate of this joint')`
` `
` 	def set_speed(self, speed, max_force=None):`
`+		"""Set rotation speed to ``speed``.`
`+`
`+		The joint will set that speed by applying a force up to`
`+		``max_force``, so it is not guaranteed that ``speed```
`+		will be reached.`
`+`
`+		:param speed: speed to set`
`+		:type speed: float`
`+		:param max_force: if not None, the maximum force the joint can`
`+			apply when trying to set the rotation speed`
`+		:type max_force: float or None`
`+`
`+		"""`
` 		dispatcher.send(signals.JOINT_PRE_SET_SPEED, sender=self, speed=speed)`
` 		if max_force is not None:`
` 			self._inner_joint.setParam(ode.ParamFMax, max_force)`