Merge pull request #425 from LonelyPaprika/feature/add_q_attribute_ve…

…l_damper

added the attribute q to joint velocity damper method

roboticstoolbox/robot/Robot.py

@@ -1355,6 +1355,7 @@ def collided(self, q, shape: Shape, skip: bool = False) -> bool:
 
  def joint_velocity_damper(
  self,
+ q=None,
  ps: float = 0.05,
  pi: float = 0.1,
  n: Union[int, None] = None,
@@ -1392,16 +1393,19 @@ def joint_velocity_damper(
 
  if n is None:
  n = self.n
+
+ if q is None:
+ q = np.copy(self.q)
 
  Ain = np.zeros((n, n))
  Bin = np.zeros(n)
 
  for i in range(n):
  if self.q[i] - self.qlim[0, i] <= pi:
- Bin[i] = -gain * (((self.qlim[0, i] - self.q[i]) + ps) / (pi - ps))
+ Bin[i] = -gain * (((self.qlim[0, i] - q[i]) + ps) / (pi - ps))
  Ain[i, i] = -1
  if self.qlim[1, i] - self.q[i] <= pi:
- Bin[i] = gain * ((self.qlim[1, i] - self.q[i]) - ps) / (pi - ps)
+ Bin[i] = gain * ((self.qlim[1, i] - q[i]) - ps) / (pi - ps)
  Ain[i, i] = 1
 
  return Ain, Bin