Commit 7d1ce75c authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Add mention to functions hpp::model::[integrate,difference]

  for a mysterious reason, the doxygen refuses to generate the documentation
  of those inline functions.
parent 86aaeb53
......@@ -91,6 +91,18 @@
\li \f$ \mathbf{x}_{joint}\f$ is the joint configuration, and
\li \f$ M \f$ is the joint internal motion as defined previously.
\subsubsection hpp_model_joint_configuration Joint configuration
Abstract class hpp::model::JointConfiguration aims at handling joint
configuration and velocities. The main methods are the following:
\li hpp::model::JointConfiguration::integrate computes the configuration
reached from an initial joint configuration after moving at constant
joint velocity during unit time,
\li hpp::model::JointConfiguration::difference compute the constant joint
velocity moving the joint from one configuration to the other one,
\li hpp::model::JointConfiguration::interpolate,
\li hpp::model::JointConfiguration::distance.
\subsection subsec_hpp_model_device Device
The class device represents either a robot as a kinematic chain, or a
......@@ -142,15 +154,10 @@
dimension of the robot velocity vector can be different from the
dimension of the robot configuration vector.
\subsection Joint configuration
\subsubsection hpp_model_operation_between_configurations_and_velocities Operations between configurations and velocities
Abstract class hpp::model::JointConfiguration aims at handling joint
configuration and velocities. The main methods are the following:
\li hpp::model::JointConfiguration::integrate computes the configuration
reached from an initial joint configuration after moving at constant
joint velocity during unit time,
\li hpp::model::JointConfiguration::difference compute the constant joint
velocity moving the joint from one configuration to the other one,
\li hpp::model::JointConfiguration::interpolate,
\li hpp::model::JointConfiguration::distance.
The following operations are defined between configurations and velocities.
\li hpp::model::integrate Integrates a constant velocity during unit time,
\li hpp::model::difference returns the constant velocity that moves from one
configuration to the other in unit time.
*/
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