Verified Commit 5e3bb0b1 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python: fix doc

parent 7e635f4b
//
// Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015-2021 CNRS INRIA
//
#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
......@@ -17,7 +17,7 @@ namespace pinocchio
bp::def("updateGeometryPlacements",
&updateGeometryPlacements<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("model", "data", "geometry_model", "geometry_data", "q"),
"Update the placement of the collision objects according to the current configuration."
"Update the placement of the collision objects according to the current configuration.\n"
"The algorithm also updates the current placement of the joint in Data."
);
......@@ -30,8 +30,8 @@ namespace pinocchio
#ifdef PINOCCHIO_WITH_HPP_FCL
bp::def("computeCollision",computeCollision,
bp::args("geometry_model", "geometry_data", "pair_index"),
"Check if the collision objects of a collision pair for a given Geometry Model and Data are in collision."
"The collision pair is given by the two index of the collision objects."
"Check if the collision objects of a collision pair for a given Geometry Model and Data are in collision.\n"
"The collision pair is given by the two index of the collision objects."
);
bp::def("computeCollisions",
......@@ -42,8 +42,8 @@ namespace pinocchio
bp::def("computeCollisions",
&computeCollisions<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("model","data","geometry_model","geometry_data","q", "bool"),
"Update the geometry for a given configuration and"
bp::args("model","data","geometry_model","geometry_data","q","stop_at_first_collision"),
"Update the geometry for a given configuration and "
"determine if all collision pairs are effectively in collision or not."
);
......@@ -62,7 +62,7 @@ namespace pinocchio
bp::def("computeDistances",
&computeDistances<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("model","data","geometry_model","geometry_data","q"),
"Update the geometry for a given configuration and"
"Update the geometry for a given configuration and "
"compute the distance between each collision pair"
);
#endif // PINOCCHIO_WITH_HPP_FCL
......
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