[parser] Adding doc in the 2 new models, and shortcuts from Eigen fox X and Y unit vectors.

src/parsers/sample-models.cpp

@@ -238,10 +238,6 @@ namespace se3
     void manipulatorGeometries(const Model& model, GeometryModel & geom)
     { addManipulatorGeometries(model,geom); }
 
-    static const Eigen::Vector3d AX_X(1,0,0);
-    static const Eigen::Vector3d AX_Y(0,1,0);
-    static const Eigen::Vector3d AX_Z(0,0,1);
-    
     static Eigen::Matrix3d rotate(const double angle, const Eigen::Vector3d & axis)
     { return Eigen::AngleAxisd(angle,axis).toRotationMatrix(); }
     
@@ -275,11 +271,11 @@ namespace se3
 
       AngleAxisd(M_PI,Vector3d(1,0,0)).toRotationMatrix();
 
-      addManipulator(model,ffidx,SE3(rotate(M_PI,AX_X),Vector3d(0,-0.2,-.1)),"rleg");
-      addManipulator(model,ffidx,SE3(rotate(M_PI,AX_X),Vector3d(0, 0.2,-.1)),"lleg");
+      addManipulator(model,ffidx,SE3(rotate(M_PI,Vector3d::UnitX()),Vector3d(0,-0.2,-.1)),"rleg");
+      addManipulator(model,ffidx,SE3(rotate(M_PI,Vector3d::UnitX()),Vector3d(0, 0.2,-.1)),"lleg");
 
-      model.jointPlacements[7 ].rotation() = rotate(M_PI/2,AX_Y); // rotate right foot
-      model.jointPlacements[13].rotation() = rotate(M_PI/2,AX_Y); // rotate left  foot
+      model.jointPlacements[7 ].rotation() = rotate(M_PI/2,Vector3d::UnitY()); // rotate right foot
+      model.jointPlacements[13].rotation() = rotate(M_PI/2,Vector3d::UnitY()); // rotate left  foot
       
       /* --- Chest --- */
       idx = model.addJoint(ffidx,JointModelRX(),I4 ,"chest1_joint",    vmax,taumax,qmin,qmax);
@@ -308,8 +304,8 @@ namespace se3
       model.addBodyFrame("head2_body",idx);
 
       /* --- Upper Limbs --- */
-      addManipulator(model,chest,SE3(rotate(M_PI,AX_X),Vector3d(0,-0.3, 1.)),"rarm");
-      addManipulator(model,chest,SE3(rotate(M_PI,AX_X),Vector3d(0, 0.3, 1.)),"larm");
+      addManipulator(model,chest,SE3(rotate(M_PI,Vector3d::UnitX()),Vector3d(0,-0.3, 1.)),"rarm");
+      addManipulator(model,chest,SE3(rotate(M_PI,Vector3d::UnitX()),Vector3d(0, 0.3, 1.)),"larm");
     }
 
     void humanoidGeometries(const Model& model, GeometryModel & geom)

src/parsers/sample-models.hpp

@@ -30,10 +30,37 @@ namespace se3
     void humanoid2d(Model& model);
     void humanoidSimple(Model& model, bool usingFF = true);
 
+    /** \brief Create a 6-DOF kinematic chain shoulder-elbow-wrist.
+     *
+     * \param model: model, typically given empty, where the kinematic chain is added.
+     */
     void manipulator(Model& model);
+    /** \brief Create the geometries on top of the kinematic model created by manipulator function.
+     *
+     * \param model, const, kinematic chain typically produced by the function manipulator(model).
+     * \warning this method is expecting specific namings of the kinematic chain, use it with care
+     * not using after manipulator(model).
+     */
     void manipulatorGeometries(const Model& model, GeometryModel & geom);
 
+    /** \brief Create a 28-DOF kinematic chain of a floating humanoid robot.
+     * 
+     * The kinematic chain has 4 limbs shoulder-elbow-wrist, one 2-dof torso, one
+     * 2-dof neck. The float joint is either a free-float joint JointModelFreeFloating
+     * (with nq=7 and nv=6), or a composite joint with 3 prismatic and 1 roll-pitch-yaw.
+     * Using a free-floating or a composite joint is decided by the boolean usingFF.
+     *
+     * \param model: model, typically given empty, where the kinematic chain is added.
+     * \param usingFF: if True, implement the chain with a plain JointModelFreeFloating; if False,
+     * uses a composite joint. This changes the size of the configuration space (35 vs 34).
+     */
     void humanoid(Model& model,bool usingFF=true);
+    /** \brief Create the geometries on top of the kinematic model created by humanoid function.
+     *
+     * \param model, const, kinematic chain typically produced by the function humanoid(model).
+     * \warning this method is expecting specific namings of the kinematic chain, use it with care
+     * not using after humanoid(model).
+     */
     void humanoidGeometries(const Model& model, GeometryModel & geom);
 
   } // namespace buildModels