Commit ffb9f703 authored by stevet's avatar stevet
Browse files

updated doc according to review

parent 1a63e2c0
......@@ -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
......@@ -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])
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