diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in index 7a322b67fac91eea6d4d175f147a6e33ae41f0d3..5d0ee659857b48b4bd5646538af774441e91e29b 100644 --- a/doc/Doxyfile.extra.in +++ b/doc/Doxyfile.extra.in @@ -1,6 +1,7 @@ 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 diff --git a/src/steering-method/cross-state-optimization/function.cc b/src/steering-method/cross-state-optimization/function.cc index a536f0e1db50ac42af581291d1c08d791ba389ae..40ea94060c8664823610aed61a1cf7b7f77eb6e0 100644 --- a/src/steering-method/cross-state-optimization/function.cc +++ b/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 {