Commit 0e96972d authored by jcarpent's avatar jcarpent
Browse files

[Doc] Update doc of computeGeneralizedGravityDerivatives

parent 257ddb54
......@@ -24,15 +24,17 @@ namespace se3
{
///
/// \brief Computes the generalized gravity contribution \f$ g(q) \f$ of the Lagrangian dynamics:
/// <CENTER> \f$ \begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray} \f$ </CENTER> <BR>
/// \note This function is equivalent to se3::rnea(model, data, q, 0, 0).
/// \brief Computes the derivative of the generalized gravity contribution
/// with respect to the joint configuration.
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration vector (dim model.nq).
/// \param[out] gravity_partial_dq Partial derivative of the generalized gravity vector with respect to the joint configuration.
///
/// \return The bias terms stored in data.g.
/// \remark gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).
///
/// \sa se3::computeGeneralizedGravity
///
inline void
computeGeneralizedGravityDerivatives(const Model & model, Data & data,
......
......@@ -125,16 +125,6 @@ namespace se3
}
};
///
/// \brief Computes the generalized gravity contribution \f$ g(q) \f$ of the Lagrangian dynamics:
/// <CENTER> \f$ \begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray} \f$ </CENTER> <BR>
/// \note This function is equivalent to se3::rnea(model, data, q, 0, 0).
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration vector (dim model.nq).
/// \param[out] gravity_partial_dq Partial derivative of the generalized gravity vector with respect to q.
///
inline void
computeGeneralizedGravityDerivatives(const Model & model, Data & data,
const Eigen::VectorXd & q,
......
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