Commit 48a91ecb authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse
Browse files

[SOT] Update documentation.

parent 3d9fe979
......@@ -82,6 +82,8 @@ protected:
/*! \brief Maximum allowed squared norm of control increment.
A task whose control increment is above this value is discarded.
It defaults to \c std::numeric_limits<double>::max().
\warning This is a security feature and is **not** a good way of adding a
proper constraint on the control generated by SoT.
*/
double maxControlIncrementSquaredNorm;
......
......@@ -116,23 +116,31 @@ Sot::Sot(const std::string &name)
"level",
"boolean")));
docstring = " \n"
" Maximum allowed squared norm of control increment.\n"
" A task whose control increment is above this value is\n"
" discarded. It defaults to the maximum double value.\n"
" \n"
" WARNING: This is a security feature and is **not** a good\n"
" way of adding a proper constraint on the control\n"
" generated by SoT.\n"
" \n";
addCommand("setMaxControlIncrementSquaredNorm",
dynamicgraph::command::makeDirectSetter(
*this, &maxControlIncrementSquaredNorm,
dynamicgraph::command::docDirectSetter(
"A task whose control increment squared norm is above "
"this value is discarded."
"squaredNorm",
"double")));
docstring +
" Input:\n"
" - a strictly positive double\n"
" \n"));
addCommand("getMaxControlIncrementSquaredNorm",
dynamicgraph::command::makeDirectGetter(
*this, &maxControlIncrementSquaredNorm,
dynamicgraph::command::docDirectGetter(
"A task whose control increment squared norm is above "
"this value is discarded."
"squaredNorm",
"double")));
docstring +
" Output:\n"
" - a double\n"
" \n"));
docstring = " \n"
" push a task into the stack.\n"
......
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