[SOT] Update documentation.

include/sot/core/sot.hh

@@ -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;
 

src/sot/sot.cpp

@@ -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"