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Commit 9b9fd15b authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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Update doc.

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INPUT = @CMAKE_SOURCE_DIR@/doc \ INPUT = @CMAKE_SOURCE_DIR@/doc \
@CMAKE_SOURCE_DIR@/include \ @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 HTML_EXTRA_FILES = @CMAKE_SOURCE_DIR@/doc/ObjectManipulation_MasterThesis_JosephMirabel.pdf
......
...@@ -31,6 +31,8 @@ namespace hpp { ...@@ -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 : class HPP_MANIPULATION_LOCAL StateFunction :
public constraints::DifferentiableFunction public constraints::DifferentiableFunction
{ {
...@@ -74,6 +76,8 @@ namespace hpp { ...@@ -74,6 +76,8 @@ namespace hpp {
const segment_t sa_, sd_; const segment_t sa_, sd_;
}; // class Function }; // class Function
/// \f$ q_{out} = q_{in} \f$
/// \todo Make this derive from constraints::AffineFunction
class HPP_MANIPULATION_LOCAL Identity : class HPP_MANIPULATION_LOCAL Identity :
public constraints::DifferentiableFunction public constraints::DifferentiableFunction
{ {
...@@ -95,6 +99,8 @@ namespace hpp { ...@@ -95,6 +99,8 @@ namespace hpp {
} }
}; // class Function }; // 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 : class HPP_MANIPULATION_LOCAL EdgeFunction :
public constraints::DifferentiableFunction public constraints::DifferentiableFunction
{ {
......
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