Commit 4c154259 authored by jcarpent's avatar jcarpent
Browse files

[Doc] Update contents

parent a0128e70
......@@ -27,10 +27,11 @@ namespace se3
{
/**
* @brief Update the position of each extra frame
* @brief Updates the position of each frame contained in the model
*
* @param[in] model The kinematic model.
* @param data Data associated to model.
*
* @param[in] model The kinematic model
* @param data Data associated to model
* @warning One of the algorithms forwardKinematics should have been called first
*/
inline void framesForwardKinematics(const Model & model,
......@@ -38,11 +39,12 @@ namespace se3
);
/**
* @brief Compute Kinematics of full model, then the position of each operational frame
* @brief First calls the forwardKinematics on the model, then computes the placement of each frame.
* /sa se3::forwardKinematics
*
* @param[in] model The kinematic model
* @param data Data associated to model
* @param[in] q Configuration vector
* @param[in] model The kinematic model.
* @param data Data associated to model.
* @param[in] q Configuration vector.
*/
inline void framesForwardKinematics(const Model & model,
Data & data,
......@@ -50,17 +52,19 @@ namespace se3
);
/**
* @brief Return the jacobian of the operational frame in the world frame or
in the local frame depending on the template argument.
* @brief Returns the jacobian of the frame expresssed in the world frame or
in the local frame depending on the template argument.
* @remark Expressed in the local frame, the jacobian maps the joint velocity vector to the spatial velocity of the center of the frame, expressed in the frame coordinates system. Expressed in the global frame, the jacobian maps to the spatial velocity of the point coinciding with the center of the world and attached to the frame.
*
* @param[in] model The kinematic model
* @param[in] data Data associated to model
* @param[in] frame_id Id of the operational frame we want to compute the jacobian
* @param J The filled Jacobian Matrix
* @param[out] J The Jacobian of the
*
* @tparam localFrame Express the jacobian in the local or global frame
* @tparam local_frame If true, the jacobian is expressed in the local frame. Otherwise, the jacobian is expressed in the world frame.
*
* @warning The function computeJacobians should have been called first
* @warning The function se3::computeJacobians should have been called first
*/
template<bool local_frame>
inline void getFrameJacobian(const Model & model,
......@@ -102,7 +106,7 @@ namespace se3
template<bool localFrame>
template<bool local_frame>
inline void getFrameJacobian(const Model & model,
const Data & data,
const Model::FrameIndex frame_id,
......
......@@ -24,19 +24,22 @@
#include "pinocchio/tools/string-generator.hpp"
#include <Eigen/StdVector>
#include <iostream>
#include <string>
namespace se3
{
///
/// \brief Enum on the possible type of frame
///
enum FrameType
{
OP_FRAME,
JOINT,
FIXED_JOINT,
BODY,
SENSOR
OP_FRAME, // operational frame type
JOINT, // joint frame type
FIXED_JOINT, // fixed joint frame type
BODY, // body frame type
SENSOR // sensor frame type
};
///
/// \brief A Plucker coordinate frame attached to a parent joint inside a kinematic tree
///
......@@ -44,26 +47,29 @@ namespace se3
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef se3::JointIndex JointIndex;
Frame() : name(randomStringGenerator(8)), parent(), placement(), type(){} // needed by EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION
///
/// \brief Default constructor of a Frame
/// \brief Default constructor of a frame.
///
Frame() : name(randomStringGenerator(8)), parent(), placement(), type() {} // needed by std::vector
///
/// \brief Builds a frame defined by its name, its joint parent id, its placement and its type.
///
/// \param[in] name Name of the frame.
/// \param[in] parent Index of the parent joint in the kinematic tree.
/// \param[in] placement Placement of the frame wrt the parent joint frame.
/// \param[in] type The type of the frame, see the enum FrameType
///
Frame(const std::string & name, const JointIndex parent, const SE3 & frame_placement, const FrameType type ):
name(name)
Frame(const std::string & name, const JointIndex parent, const SE3 & frame_placement, const FrameType type)
: name(name)
, parent(parent)
, placement(frame_placement)
, type(type)
{}
///
/// \brief Compare the current Frame with another frame. Return true if all properties match.
/// \returns true if *this and other matches and have the same parent, name and type.
///
/// \param[in] other The frame to which the current frame is compared.
///
......
......@@ -233,24 +233,25 @@ namespace se3
const std::string & getJointName(const JointIndex index) const;
///
/// \brief Return the index of a frame given by its name.
/// \brief Returns the index of a frame given by its name.
/// \sa Model::existFrame to check if the frame exists or not.
///
/// \warning If no frame is found, return the number of elements at time T.
/// \warning If no frame is found, returns the size of the vector of Model::frames.
/// This can lead to errors if the model is expanded after this method is called
/// (for example to get the id of a parent frame)
/// (for example to get the id of a parent frame).
///
/// \param[in] index Index of the frame.
/// \param[in] name Name of the frame.
///
/// \return Index of the frame.
///
FrameIndex getFrameId (const std::string & name) const;
///
/// \brief Check if a frame given by its name exists.
/// \brief Checks if a frame given by its name exists.
///
/// \param[in] name Name of the frame.
///
/// \return Return true if the frame exists.
/// \return Returns true if the frame exists.
///
bool existFrame (const std::string & name) const;
......@@ -318,23 +319,23 @@ namespace se3
const SE3 & getFramePlacement(const FrameIndex index) const;
///
/// \brief Add a frame to the kinematic tree.
/// \brief Adds a frame to the kinematic tree.
///
/// \param[in] frame The frame to add to the kinematic tree.
///
/// \return Return true if the frame has been successfully added.
/// \return Returns true if the frame has been successfully added.
///
bool addFrame(const Frame & frame);
///
/// \brief Create and add a frame to the kinematic tree.
/// \brief Creates and adds a frame to the kinematic tree.
///
/// \param[in] name Name of the frame.
/// \param[in] parent Index of the supporting joint.
/// \param[in] placement Placement of the frame regarding to the joint frame.
/// \param[in] type The type of the frame
///
/// \return Return true if the frame has been successfully added.
/// \return Returns true if the frame has been successfully added.
///
bool addFrame(const std::string & name, const JointIndex parent, const SE3 & placement, const FrameType type = OP_FRAME);
......
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