Commit 1497a8e8 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[liegroup] Fix doc for normalize

parent 17c479e2
......@@ -229,9 +229,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
*
* @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$ q \oplus v \f$,
* to the tangent space at \f$ q \f$.
* In other words, this functions transforms a tangent vector expressed at \f$ q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of configuration between
* \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent vector.
* A typical example of parallel transportation is the action operated by a rigid transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$.
* In other words, this functions transforms a tangent vector expressed at \f$ q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of configuration between
* \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent vector.
* A typical example of parallel transportation is the action operated by a rigid transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$.
* In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity.
* For Lie groups, its corresponds to the canonical vector field transportation.
*
......@@ -356,7 +356,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* @brief Normalize the joint configuration given as input.
* For instance, the quaternion must be unitary.
*
* @param[out] qout the normalized joint configuration.
* @note If the input vector is too small (i.e., qout.norm()==0), then it is left unchanged.
*
* @param[in,out] qout the normalized joint configuration.
*/
template <class Config_t>
void normalize(const Eigen::MatrixBase<Config_t> & qout) const;
......
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