Verified Commit 124b3e31 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

doc: reflect the fact that {lower,upper} bounds are not joint configuration vector

parent c8bf7d93
......@@ -29,6 +29,7 @@ namespace se3
* @param[in] model Model that must be integrated
* @param[in] q Initial configuration (size model.nq)
* @param[in] v Velocity (size model.nv)
*
* @return The integrated configuration (size model.nq)
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
......@@ -43,6 +44,7 @@ namespace se3
* @param[in] q0 Initial configuration vector (size model.nq)
* @param[in] q1 Final configuration vector (size model.nq)
* @param[in] u u in [0;1] position along the interpolation.
*
* @return The interpolated configuration (q0 if u = 0, q1 if u = 1)
*/
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
......@@ -58,6 +60,7 @@ namespace se3
* @param[in] model Model to be differenced
* @param[in] q0 Initial configuration (size model.nq)
* @param[in] q1 Wished configuration (size model.nq)
*
* @return The corresponding velocity (size model.nv)
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
......@@ -73,6 +76,7 @@ namespace se3
* @param[in] model Model we want to compute the distance
* @param[in] q0 Configuration 0 (size model.nq)
* @param[in] q1 Configuration 1 (size model.nq)
*
* @return The corresponding squared distances for each joint (size model.njoints-1 = number of joints)
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
......@@ -86,6 +90,7 @@ namespace se3
* @param[in] model Model we want to compute the distance
* @param[in] q0 Configuration 0 (size model.nq)
* @param[in] q1 Configuration 1 (size model.nq)
*
* @return The distance between the two configurations
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorIn1, typename ConfigVectorIn2>
......@@ -96,9 +101,11 @@ namespace se3
/**
* @brief Generate a configuration vector uniformly sampled among provided limits.
*
*\warning If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample
* @remarks Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.
*
* @param[in] model Model we want to generate a configuration vector of
* @warning If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample
*
* @param[in] model Model for which we want to generate a configuration vector.
* @param[in] lowerLimits Joints lower limits
* @param[in] upperLimits Joints upper limits
*
......@@ -113,10 +120,13 @@ namespace se3
/**
* @brief Generate a configuration vector uniformly sampled among the joint limits of the specified Model.
*
*\warning If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit},
* @remarks Limits are not taken into account for rotational transformations (typically SO(2),SO(3)), because they are by definition unbounded.
*
* @warning If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit},
* exceptions may be thrown in the joint implementation of uniformlySample
*
* @param[in] model Model we want to generate a configuration vector of
* @param[in] model Model for which we want to generate a configuration vector.
*
* @return The resulted configuration vector (size model.nq)
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
......@@ -128,6 +138,7 @@ namespace se3
*
* @param[in] model Model
* @param[in,out] q Configuration to normalize
*
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline void normalize(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
......@@ -135,7 +146,7 @@ namespace se3
/**
* @brief Return true if the given configurations are equivalents
* \warning Two configurations can be equivalent but not equally coefficient wise (e.g for quaternions)
* @warning Two configurations can be equivalent but not equally coefficient wise (e.g for quaternions)
*
* @param[in] model Model
* @param[in] q1 The first configuraiton to compare
......
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