Commit 58d2874e authored by jcarpent's avatar jcarpent
Browse files

[Doc] Specify the frame in which the quantities are expressed

parent d8295b76
......@@ -357,17 +357,17 @@ namespace se3
/// encapsulated in JointDataAccessor.
JointDataVector joints;
/// \brief Vector of joint accelerations.
/// \brief Vector of joint accelerations expressed in the local frame of the joint.
container::aligned_vector<Motion> a;
/// \brief Vector of joint accelerations due to the gravity field.
/// \brief Vector of joint accelerations due to the gravity field expressed in the local frame of the joint..
container::aligned_vector<Motion> a_gf;
/// \brief Vector of joint velocities.
/// \brief Vector of joint velocities expressed in the local frame of the joint..
container::aligned_vector<Motion> v;
/// \brief Vector of body forces. For each body, the force represents the sum of
/// all external forces acting on the body.
/// all external forces acting on the body and expressed in the local frame of the joint..
container::aligned_vector<Force> f;
/// \brief Vector of absolute joint placements (wrt the world).
......@@ -387,7 +387,8 @@ namespace se3
/// \brief Vector of absolute operationnel frame placements (wrt the world).
container::aligned_vector<SE3> oMf;
/// \brief Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint.
/// \brief Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint
/// and expressed in the local frame of the joint..
container::aligned_vector<Inertia> Ycrb;
/// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}$\f. See Data::Ycrb for more details.
......
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