Verified Commit 1818ac17 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

doc: correct documentation of dIntegrate

parent 730ffe6b
......@@ -94,10 +94,10 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<Jacobian_t> & J) const;
/**
* @brief Computes the Jacobian of a small variation of the configuration vector into tangent space at identity.
* @brief Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity.
*
* @details This Jacobian corresponds to the Jacobian of \f$ (\bm{q} \oplus \delta \bm{q}) \oplus \bm{v} \f$ with
* \f$ \delta \bm{q} \rightarrow 0 \f$.
* \f$ \delta \bm{q} \rightarrow 0 \f$ if arg == ARG0 or \f$ \delta \bm{v} \rightarrow 0 \f$ if arg == ARG1.
*
* @param[in] q configuration vector.
* @param[in] v tangent vector.
......@@ -213,7 +213,7 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
PINOCCHIO_DEPRECATED;
/**
* @brief Computes the Jacobian of the difference operation.
* @brief Computes the Jacobian of the difference operation with respect to q0 or q1.
*
* @param[in] q0 the initial configuration vector.
* @param[in] q1 the terminal configuration vector.
......
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