Commit 147f6a18 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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[Doc] document class Joint.

parent f0aa7acd
......@@ -36,26 +36,29 @@ namespace hpp {
/// components of the robot configuration starting at
/// Joint::rankInConfiguration.
///
/// The joint input vector represents a element of a Lie group, either
/// The joint input vector represents an element of a Lie group, either
/// \li a vector space for JointTranslation, and bounded JointRotation,
/// \li the unit circle for non-bounded JointRotation joints,
/// \li an element of SO(3) for JointSO3, represented by a unit quaternion.
///
/// Operations specific to joints (uniform sampling of input space, straight
/// interpolation, distance, ...) are performed by a JointConfiguration
/// instance that has the same class hierarchy as Joint.
/// This class is a wrapper to pinocchio::JointModelTpl.
class HPP_PINOCCHIO_DLLAPI Joint {
public:
/// \name Construction and copy and destruction
/// \{
/// Create a new joint
/// Returns a null pointer if indexInJointList is 0.
/// \param indexInJointList index in pinocchio vector of joints
/// (pinocchio::ModelTpl::joints)
/// \return shared pointer to result if indexInJointList > 0, empty
/// shared pointer if indexInJointList == 0.
/// \note indices of device start at 1 since 0 corresponds to "universe".
static JointPtr_t create (DeviceWkPtr_t device, JointIndex indexInJointList );
/// Constructor
/// \param device pointer on the device the joint is belonging to.
/// \param indexInJointList index of the joint, i.e. joint = device.model.joints[index]
/// \param indexInJointList index in pinocchio vector of joints
/// (pinocchio::ModelTpl::joints). Should be > 0.
/// \note indices of device start at 1 since 0 corresponds to "universe".
Joint (DeviceWkPtr_t device, JointIndex indexInJointList );
~Joint() {}
......
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