Update doc.

doc/Doxyfile.extra.in

 INPUT     = @CMAKE_SOURCE_DIR@/doc \
             @CMAKE_SOURCE_DIR@/include \
-            @CMAKE_BINARY_DIR@/doc
+            @CMAKE_BINARY_DIR@/doc \
+            @CMAKE_BINARY_DIR@/src/steering-method/cross-state-optimization
 
 HTML_EXTRA_FILES = @CMAKE_SOURCE_DIR@/doc/ObjectManipulation_MasterThesis_JosephMirabel.pdf
 

src/steering-method/cross-state-optimization/function.cc

@@ -31,6 +31,8 @@ namespace hpp {
         }
       }
 
+      /// Apply the constraint on a subspace of the input space:
+      /// i.e.: \f$ f (q_0, ... , q_n) = f_{inner} (q_k) \f$
       class HPP_MANIPULATION_LOCAL StateFunction :
         public constraints::DifferentiableFunction
       {
@@ -74,6 +76,8 @@ namespace hpp {
           const segment_t sa_, sd_;
       }; // class Function
 
+      /// \f$ q_{out} = q_{in} \f$
+      /// \todo Make this derive from constraints::AffineFunction
       class HPP_MANIPULATION_LOCAL Identity :
         public constraints::DifferentiableFunction
       {
@@ -95,6 +99,8 @@ namespace hpp {
           }
       }; // class Function
 
+      /// Compute the difference between the value of the function in two points.
+      /// i.e.: \f$ f (q_0, ... , q_n) = f_{inner} (q_{left}) - f_{inner} (q_{right}) \f$
       class HPP_MANIPULATION_LOCAL EdgeFunction :
         public constraints::DifferentiableFunction
       {