From 309ae485b05b6065976eccea9e66587ba589742a Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 30 Aug 2016 17:11:36 +0200
Subject: [PATCH] [Doc] Add doc for appendGeometryModel

---
 src/algorithm/geometry.hpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/algorithm/geometry.hpp b/src/algorithm/geometry.hpp
index 914f5db85..035b6c44c 100644
--- a/src/algorithm/geometry.hpp
+++ b/src/algorithm/geometry.hpp
@@ -96,6 +96,13 @@ namespace se3
 
   /// Append geomModel2 to geomModel1
   ///
+  /// The steps for appending are:
+  /// \li add GeometryObject of geomModel2 to geomModel1,
+  /// \li add the collision pairs of geomModel2 into geomModel1 (indexes are updated)
+  /// \li add all the collision pairs between geometry objects of geomModel1 and geomModel2.
+  /// \li update the inner objects of geomModel1 with the inner objects of geomModel2
+  /// \li update the outer objects (see TODO)
+  ///
   /// \warning Radius should be recomputed.
   /// \todo The geometry objects of geomModel2 should be added as outerObjects
   ///       of the joints originating from model1 but I do not know how to do it.
-- 
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