Commit 922d745c authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Add documentation.

parent e4548eee
/// \mainpage
/// \section hppCore_sec_intro Introduction
/// \section hpp_core_sec_intro Introduction
/// This package implements path planning algorithms for kinematic chains.
/// Kinematic chains are represented by class hpp::model::Device.
......@@ -11,3 +11,11 @@
/// \li hpp::core::SteeringMethod: builds paths between configurations taking
/// into account kinematic constraints.
/// \li hpp::core::Path: paths for a robot.
/// \section hpp_core_sec_embedding Embedding hpp-core into an application
/// Class hpp::core::ProblemSolver is a container aiming at embedding
/// hpp-core into an application. It stores elements of the problem
/// that can be provided in random order and builds a valid problem
/// upon call of method solve. After completion of method solve, it
/// stores solution paths.
......@@ -85,6 +85,7 @@ namespace hpp {
/// Add a constraint
void addConstraint (const ConstraintPtr_t& constraint);
/// Get constraint set
const ConstraintSetPtr_t& constraints () const
return constraints_;
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