Documentation

- Document set_support_state

src/PreviewControl/SupportFSM.cpp

@@ -42,7 +42,7 @@ SupportFSM::~SupportFSM()
 {
 }
 
-void SupportFSM::set_support_state(double Time, int Pi,
+void SupportFSM::set_support_state(double Time, unsigned int Pi,
 				 support_state_t & Support, const reference_t & Ref) const
 {
 
@@ -65,7 +65,6 @@ void SupportFSM::set_support_state(double Time, int Pi,
   //FSM
   if(Time+EPS+Pi*T_ >= Support.TimeLimit)
     {
-
       //SS->DS
       if(Support.Phase == SS  && !ReferenceGiven && Support.NbStepsLeft == 0)
 	{

src/PreviewControl/SupportFSM.h

@@ -47,9 +47,16 @@ namespace PatternGeneratorJRL
     /// \brief Destructor
     ~SupportFSM();
 
-    /// \brief Initialize the previewed state.
-    void set_support_state( double Time, int Pi,
-                support_state_t & Support, const reference_t & Ref) const;
+    /// \brief Initialize the previewed state
+    ///
+    /// \param[in] Time Current time
+    /// \param[in] Pi Number of (p)reviewed sampling (i)nstant inside the preview period
+    /// \param[out] Support Support state to be actualized
+    /// \param[in] Ref Trajectory reference
+    void set_support_state( double Time,
+        unsigned int Pi,
+        support_state_t & Support,
+        const reference_t & Ref) const;
 
     /// \name Accessors
     /// \{