updated doc according to review

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -154,10 +154,10 @@ module hpp
     /// \param com target com
     double projectStateToCOM(in unsigned short stateId,  in floatSeq com, in  unsigned short max_num_sample) raises (Error);
 
-    /// Project a state into a COM
+    /// Clone a state
     ///
     /// \param stateId target state
-    /// \param com target com
+    /// \return stateId of the cloned state
     short cloneState(in unsigned short stateId) raises (Error);
 
     /// Project a state into a given root position and orientation
@@ -266,7 +266,7 @@ module hpp
     /// \param currentState Id of the considered state
     /// \param name name of the limb used to create a contact
     /// \param direction desired direction of motion for the robot
-    /// \return transformed configuration for which all possible contacts have been created
+    /// \return id of the new contact state if successful, -1 otherwise
     short generateContactState(in unsigned short currentState, in string name, in floatSeq direction) raises (Error);
 
     /// get Ids of limb in an octree cell

src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py

@@ -58,6 +58,7 @@ def find_point_on_plane(a,b,c,d):
         
         
  
+#Create an Inequalities object given the inequalities matrices A,b, s.t. Ax <=b
 def inequalities_to_Inequalities_object(A,b):
         nrows = A.shape[0]
 	V = np.ones([nrows, 4])