parameters: (self,link)
docstring: Enables an active DOF.  If this is the first time enableDof is called,
          this initializes the list of active DOFs to the single link.  Otherwise
          it appends it to the list.  (By default, all DOFs are enabled)
docstring_summary: Enables an active DOF.  If this is the first time enableDof is called,
          this initializes the list of active DOFs to the single link.  Otherwise
          it appends it to the list.  (By default, all DOFs are enabled)
docstring_tokens: Enables an active DOF . If this is the first time enableDof is called this initializes the list of active DOFs to the single link . Otherwise it appends it to the list . ( By default all DOFs are enabled )
function: def enableDof(self,link):
          """Enables an active DOF.  If this is the first time enableDof is called,
          this initializes the list of active DOFs to the single link.  Otherwise
          it appends it to the list.  (By default, all DOFs are enabled)"""
          if isinstance(link,str):
              link = self.robot.link(link).index
          elif isinstance(link,RobotModelLink):
              self.activeDofs.append(link.index)
          else:
              assert isinstance(link,int)
          if self.activeDofs is None:
              self.activeDofs = [link]
          else:
              if link not in self.activeDofs:
                  self.activeDofs.append(link)
function_tokens: def enableDof ( self , link ) : if isinstance ( link , str ) : link = self . robot . link ( link ) . index elif isinstance ( link , RobotModelLink ) : self . activeDofs . append ( link . index ) else : assert isinstance ( link , int ) if self . activeDofs is None : self . activeDofs = [ link ] else : if link not in self . activeDofs : self . activeDofs . append ( link )