Merge pull request #148 from cmower/add-sphere-col-doc

Add docstring for sphere_collision_avoidance_constraints function

doc/Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = OpTaS
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.0.5
+PROJECT_NUMBER         = 1.0.6
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

optas/builder.py

@@ -366,6 +366,13 @@ def add_equality_constraint(
     def sphere_collision_avoidance_constraints(
         self, name, obstacle_names, link_names=None, base_link=None
     ) -> None:
+        """! Add collision avoidance constraints, based on spherical representations attached to the robot links and placed in the world.
+
+        @param name Name of the model.
+        @param obstacle_names A list of strings with names of obstacles. For each object, parameters will be created with labels NAME_position (size 3) and NAME_radii (size 1) that represent the obstacle position and radius respectively.
+        @param link_names The links you want to attach collision avoidance constraints onto; for each link a parameter is created with label NAME_radii (size 1). When None is passed, a sphere is attcahed to each link specified in the URDF.
+        @param base_link Name of the base frame link. When None is passed, the root link in the URDF is used.
+        """
         # Get model
         model = self.get_model(name)
         assert isinstance(model, RobotModel), "this method only applies to robot models"

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "pyoptas"
-version = "1.0.5"
+version = "1.0.6"
 authors = [
   { name="Christopher E. Mower", email="[email protected]" },
 ]

setup.py

@@ -6,7 +6,7 @@
 setup(
     name="pyoptas",
     description="An optimization-based task specification library for task and motion planning (TAMP), trajectory optimization, and model predictive control.",
-    version="1.0.5",
+    version="1.0.6",
     long_description=long_description,
     long_description_content_type="text/markdown",
     url="https://github.com/cmower/optas",