Commit 951b3404 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[doc] add documentation in header of kinodynamic-path and kinodynamic-oriented-path

parent 2b30380c
......@@ -23,8 +23,8 @@
namespace hpp{
namespace core{
/// Path with 2 segment of constant acceleration or 3 segments with a constant velocity segment
/// This class is similar to \link hpp::core::KinodynamicPath KinodynamicPath \endlink exept that the orientation of the robot always follow the direction of the velocity
/// This class is similar to \link hpp::core::KinodynamicPath KinodynamicPath \endlink exept that the orientation of the robot always follow the direction of the velocity.
/// If the problem parameter "Kinodynamic/forceYawOrientation" have been set to True, only the orientation around the z axis is set to follow the direction of the velocity.
class HPP_CORE_DLLAPI KinodynamicOrientedPath : public KinodynamicPath
{
......
......@@ -28,7 +28,9 @@ namespace hpp {
/// \addtogroup path
/// \{
///
/// KinodynamicPath store a "bang-bang" trajectory depend on time
/// This Path have the same behavior as the \link hpp::core::StraightPath StraightPath \endlink class
/// exept for the translation part of the free-flyer.
/// For the translation part of the free-flyer KinodynamicPath store a "bang-bang" trajectory dependent on time
/// with either 2 segment of constant acceleration or 3 segments with a constant velocity segment
///
/// In current implementation, only the translation part of the freeflyer joint is considered by this class.
......
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