Merge branch 'main' into node_logging

tylerjw · Oct 25, 2023 · f033924 · f033924
2 parents b9efa98 + 0a4f1ba
commit f033924
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp b/moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp
@@ -140,6 +140,7 @@ void init_robot_trajectory(py::module& m)
            py::arg("path_tolerance") = 0.1, py::arg("resample_dt") = 0.1, py::arg("min_angle_change") = 0.001,
            R"(
            Adds time parameterization to the trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.
+
            Args:
                velocity_scaling_factor (float): The velocity scaling factor.
                acceleration_scaling_factor (float): The acceleration scaling factor.
@@ -154,18 +155,20 @@ void init_robot_trajectory(py::module& m)
            py::arg("overshoot_threshold") = 0.01,
            R"(
            Applies Ruckig smoothing to the trajectory.
+
            Args:
                velocity_scaling_factor (float): The velocity scaling factor.
                acceleration_scaling_factor (float): The acceleration scaling factor.
                mitigate_overshoot (bool): Whether to mitigate overshoot during smoothing (default: false).
-               overshoot_threshold (float): The maximum allowed overshoot during smoothing (default: 0.01
+               overshoot_threshold (float): The maximum allowed overshoot during smoothing (default: 0.01).
            Returns:
                bool: True if the trajectory was successfully retimed, false otherwise.
            )")
       .def("get_robot_trajectory_msg", &moveit_py::bind_robot_trajectory::get_robot_trajectory_msg,
            py::arg("joint_filter") = std::vector<std::string>(),
            R"(
            Get the trajectory as a moveit_msgs.msg.RobotTrajectory message.
+
            Args:
                joint_filter (list[string]): List of joints to consider in creating the message. If empty, uses all joints.
            Returns:
@@ -175,8 +178,9 @@ void init_robot_trajectory(py::module& m)
            py::arg("robot_state"), py::arg("msg"),
            R"(
            Set the trajectory from a moveit_msgs.msg.RobotTrajectory message.
+
            Args:
-               robot_state (py:class:`moveit_py.core.RobotState`): The reference robot starting state.
+               robot_state (:py:class:`moveit_py.core.RobotState`): The reference robot starting state.
                msg (moveit_msgs.msg.RobotTrajectory): A ROS robot trajectory message.
            )");
   // TODO (peterdavidfagan): support other methods such as appending trajectories