German Larrain avatar German Larrain committed 33740bf

robot.joints: added module docstring; improved docstring of Joint and ActuatedJoint.

Comments (0)

Files changed (1)

ars/model/robot/joints.py

+"""Module of all the classes related to physical joints.
+These are objects that link 2 bodies together.
+
+There are two base abstract classes for all joints:
+:class:`Joint` and :class:`ActuatedJoint`.
+They are not coupled (at all) with ODE or any other
+physics or collision library/engine.
+
+The classes that implement at least one of those interfaces are these:
+
+* :class:`Fixed`
+* :class:`Rotary`
+* :class:`Universal`
+* :class:`BallSocket`
+* :class:`Slider`
+
+There is also an auxiliary class: :class:`JointFeedback`.
+
+"""
 from abc import ABCMeta, abstractmethod
 
 import ode
 
 
 class Joint(object):
-	"""Abstract class. Not coupled (at all) with ODE or any other collision
-	library/engine.
+	"""Entity that links 2 bodies together, enforcing one or more
+	movement constraints.
+
+	This is an abstract class.
 
 	"""
 	__metaclass__ = ABCMeta
 
 
 class ActuatedJoint(Joint):
-	"""Actuated joint i.e. a joint with an actuator that can apply power to
-	connected bodies.
+	"""A joint with an actuator that can exert force and/or torque
+	to connected bodies.
+
+	This is an abstract class.
 
 	"""
 	__metaclass__ = ABCMeta
Tip: Filter by directory path e.g. /media app.js to search for public/media/app.js.
Tip: Use camelCasing e.g. ProjME to search for ProjectModifiedEvent.java.
Tip: Filter by extension type e.g. /repo .js to search for all .js files in the /repo directory.
Tip: Separate your search with spaces e.g. /ssh pom.xml to search for src/ssh/pom.xml.
Tip: Use ↑ and ↓ arrow keys to navigate and return to view the file.
Tip: You can also navigate files with Ctrl+j (next) and Ctrl+k (previous) and view the file with Ctrl+o.
Tip: You can also navigate files with Alt+j (next) and Alt+k (previous) and view the file with Alt+o.