From a00c04131fb5bf88d1b44827b329f68f9563c585 Mon Sep 17 00:00:00 2001
From: t steve <pro@stevetonneau.fr>
Date: Fri, 16 Mar 2018 10:34:26 +0100
Subject: [PATCH] documentattion

---
 include/bezier-com-traj/common_solve_methods.hh | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/include/bezier-com-traj/common_solve_methods.hh b/include/bezier-com-traj/common_solve_methods.hh
index e258588..192f581 100644
--- a/include/bezier-com-traj/common_solve_methods.hh
+++ b/include/bezier-com-traj/common_solve_methods.hh
@@ -55,11 +55,10 @@ BEZIER_COM_TRAJ_DLLAPI ResultData solve(Cref_matrixXX A, Cref_vectorX b, Cref_ma
 
 
 /**
- * @brief solveIntersection Solve the QP problem, that find a point inside the constraints Ab that minimise the cost Hg
- * @param Ab s.t. Ax <= b
- * @param Hg min  x'Hx  + g'x
- * @param init x_init
- * @return ResultData
+ * @brief solve x' h x + 2 g' x, subject to A*x <= b using quadprog, with x of fixed dimension 3
+ * @param Ab Inequality matrix and vector
+ * @param Hg Cost matrix and vector
+ * @return
  */
 BEZIER_COM_TRAJ_DLLAPI ResultData solveIntersection(const std::pair<MatrixXX, VectorX>& Ab,const std::pair<MatrixXX, VectorX>& Hg,  const Vector3& init);
 
-- 
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