From abcd8d55241ce0236ce67822e5545bd773c986ce Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 28 Mar 2020 16:32:23 +0100
Subject: [PATCH] [doc] add doc to class WaypointEdge.
---
include/hpp/manipulation/graph/edge.hh | 37 +++++++++++++++++---------
1 file changed, 25 insertions(+), 12 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 37fb47fd..5eff0b52 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -253,21 +253,34 @@ namespace hpp {
friend class Graph;
}; // class Edge
- /// Edge with waypoint.
- /// Waypoints are handled recursively, i.e.\ class WaypointEdge contains only a
- /// State and an Edge, the second Edge being itself.
- /// In this package, the State in a WaypointEdge is semantically different from other State
- /// because it does not correspond to a state with different manipulation rules. It has
- /// the same rules as another State (either Edge::from() or Edge::to()).
+ /// Edge with intermediate waypoint states.
///
- /// Semantically, a waypoint State is fully part of the WaypointEdge. When a corresponding path
- /// reaches it, no planning is required to know what to do next. To the contrary, when a path reaches
- /// Edge::from() or Edge::to(), there may be several possibilities.
+ /// This class implements a transition from one state to another state
+ /// with intermediate states in-between. This feature is particularly
+ /// interesting when manipulating objects. Between a state where a gripper
+ /// does not grasp an object and a state where the same gripper grasps
+ /// the object, it is useful to add an intermediate state where the
+ /// gripper is close to the object.
+ ///
+ /// Waypoints are handled recursively, i.e.\ class WaypointEdge
+ /// contains only a State and an Edge, the second Edge being
+ /// itself. In this package, the State in a WaypointEdge is
+ /// semantically different from other State because it does not
+ /// correspond to a state with different manipulation rules. It
+ /// has the same rules as another State (either Edge::stateFrom() or
+ /// Edge::stateTo()).
+ ///
+ /// Semantically, a waypoint State is fully part of the WaypointEdge.
+ /// When a corresponding path reaches it, no planning is required to know
+ /// what to do next. To the contrary, when a path reaches
+ /// Edge::stateFrom() or Edge::stateTo(), there may be several
+ /// possibilities.
///
/// \note
- /// Implementation details: let's say, between the two states \f$N_f\f$ and \f$N_t\f$,
- /// two waypoints are required:
- /// \f$ N_f \xrightarrow{e_0} n_0 \xrightarrow{e_1} n_1 \xrightarrow{e_2} N_t\f$.
+ /// Implementation details: let's say, between the two states \f$N_f\f$
+ /// and \f$N_t\f$, two waypoints are required:
+ /// \f$ N_f \xrightarrow{e_0} n_0 \xrightarrow{e_1} n_1
+ /// \xrightarrow{e_2} N_t\f$.
/// The WaypointEdge contains:
/// \li from: \f$N_f\f$,
/// \li to: \f$N_t\f$,
--
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