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(Doc) minor clarification in hrpsys_config.py #505

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Mar 9, 2015
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(Doc) minor clarification in hrpsys_config.py #505

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10 changes: 5 additions & 5 deletions python/hrpsys_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1161,15 +1161,15 @@ def getReferenceRPY(self, lname, frame_name=None):

def setTargetPose(self, gname, pos, rpy, tm, frame_name=None):
'''!@brief
Set absolute pose to a joint.
Move the end-effector to the given absolute pose.
All d* arguments are in meter.

@param gname str: Name of the joint group.
@param pos list of float: In meter.
@param rpy list of float: In radian.
@param tm float: Second to complete.
@param tm float: Second to complete the command.
@param frame_name str: Name of the frame that this particular command
reference to.
references to.
@return bool: False if unreachable.
'''
print gname, frame_name, pos, rpy, tm
Expand All @@ -1186,7 +1186,7 @@ def setTargetPose(self, gname, pos, rpy, tm, frame_name=None):
def setTargetPoseRelative(self, gname, eename, dx=0, dy=0, dz=0,
dr=0, dp=0, dw=0, tm=10, wait=True):
'''!@brief
Set angles to a joint group relative to its current pose.
Move the end-effector's location relative to its current pose.

For d*, distance arguments are in meter while rotations are in degree.

Expand All @@ -1203,7 +1203,7 @@ def setTargetPoseRelative(self, gname, eename, dx=0, dy=0, dz=0,
@param dr float: In radian.
@param dp float: In radian.
@param dw float: In radian.
@param tm float: Second to complete.
@param tm float: Second to complete the command.
@param wait bool: If true, all other subsequent commands wait until
the movement commanded by this method call finishes.
@return bool: False if unreachable.
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