Merge branch 'future'

Author: jhavl

Diff for: docs/source/arm_superclass.rst

@@ -17,9 +17,19 @@ The various models :ref:`E Models` all subclass this class.
    :show-inheritance:
    :inherited-members:
    :special-members: __getitem__
+
+Kinematic cache
+---------------
+
+.. automodule:: roboticstoolbox.robot.KinematicCache
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
+   :special-members: __init__
 
 Link
--------
+----
 
 The ``ERobot`` is defined by a tree of ``ELink`` subclass objects.
 

Diff for: docs/source/blocks-arm.rst

@@ -0,0 +1,13 @@
+Robot manipulator blocks
+========================
+
+.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
+    :width: 300
+
+.. automodule:: roboticstoolbox.blocks.arm
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :special-members: __init__
+   :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
+