Commit 7b4833a0 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by jcarpent
Browse files

[Doc] Fix doxygen warnings

- remove leftidx package, not available in MathJbx
- replace `\leftidx{^` by `{}^{`
- fix param lists
- comment documentation of commented code
- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md
parent 3ae43223
...@@ -530,7 +530,7 @@ GENERATE_LATEX = YES ...@@ -530,7 +530,7 @@ GENERATE_LATEX = YES
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
# packages that should be included in the LaTeX output. # packages that should be included in the LaTeX output.
EXTRA_PACKAGES += leftidx EXTRA_PACKAGES +=
#--------------------------------------------------------------------------- #---------------------------------------------------------------------------
# Configuration options related to the preprocessor # Configuration options related to the preprocessor
......
...@@ -11,52 +11,50 @@ ...@@ -11,52 +11,50 @@
\newcommand{\dpartial}[2]{\frac{\partial{#1}}{\partial{#2}}} \newcommand{\dpartial}[2]{\frac{\partial{#1}}{\partial{#2}}}
\newcommand{\ddpartial}[2]{\frac{\partial^2{#1}}{\partial{#2}^2}} \newcommand{\ddpartial}[2]{\frac{\partial^2{#1}}{\partial{#2}^2}}
\newcommand{\aRb}{\ \leftidx{^A}R_B} \newcommand{\aRb}{\ {}^{A}R_B}
\newcommand{\aMb}{\ \leftidx{^A}M_B} \newcommand{\aMb}{\ {}^{A}M_B}
\newcommand{\amb}{\ \leftidx{^A}m_B} \newcommand{\amb}{\ {}^{A}m_B}
\newcommand{\apb}{{\ \leftidx{^A}{AB}{}}} \newcommand{\apb}{{\ {}^{A}{AB}{}}}
\newcommand{\aXb}{\ \leftidx{^A}X_B} \newcommand{\aXb}{\ {}^{A}X_B}
\newcommand{\bRa}{\ \leftidx{^B}R_A} \newcommand{\bRa}{\ {}^{B}R_A}
\newcommand{\bMa}{\ \leftidx{^B}M_A} \newcommand{\bMa}{\ {}^{B}M_A}
\newcommand{\bma}{\ \leftidx{^B}m_A} \newcommand{\bma}{\ {}^{B}m_A}
\newcommand{\bpa}{\ \leftidx{^B}{BA}{}} \newcommand{\bpa}{\ {}^{B}{BA}{}}
\newcommand{\bXa}{\ \leftidx{^B}X_A} \newcommand{\bXa}{\ {}^{B}X_A}
\newcommand{\ap}{\ \leftidx{^A}p} \newcommand{\ap}{\ {}^{A}p}
\newcommand{\bp}{\ \leftidx{^B}p} \newcommand{\bp}{\ {}^{B}p}
\newcommand{\afs}{\ \leftidx{^A}\phi} \newcommand{\afs}{\ {}^{A}\phi}
\newcommand{\bfs}{\ \leftidx{^B}\phi} \newcommand{\bfs}{\ {}^{B}\phi}
\newcommand{\af}{\ \leftidx{^A}f} \newcommand{\af}{\ {}^{A}f}
\renewcommand{\bf}{\ \leftidx{^B}f} \renewcommand{\bf}{\ {}^{B}f}
\newcommand{\an}{\ \leftidx{^A}\tau} \newcommand{\an}{\ {}^{A}\tau}
\newcommand{\bn}{\ \leftidx{^B}\tau} \newcommand{\bn}{\ {}^{B}\tau}
\newcommand{\avs}{\ \leftidx{^A}\nu} \newcommand{\avs}{\ {}^{A}\nu}
\newcommand{\bvs}{\ \leftidx{^B}\nu} \newcommand{\bvs}{\ {}^{B}\nu}
\newcommand{\w}{\omega} \newcommand{\w}{\omega}
\newcommand{\av}{\ \leftidx{^A}v} \newcommand{\av}{\ {}^{A}v}
\newcommand{\bv}{\ \leftidx{^B}v} \newcommand{\bv}{\ {}^{B}v}
\newcommand{\aw}{\ \leftidx{^A}\w} \newcommand{\aw}{\ {}^{A}\w}
\newcommand{\bw}{\ \leftidx{^B}\w} \newcommand{\bw}{\ {}^{B}\w}
\newcommand{\aI}{\ \leftidx{^A}I} \newcommand{\aI}{\ {}^{A}I}
\newcommand{\bI}{\ \leftidx{^B}I} \newcommand{\bI}{\ {}^{B}I}
\newcommand{\cI}{\ \leftidx{^C}I} \newcommand{\cI}{\ {}^{C}I}
\newcommand{\aY}{\ \leftidx{^A}Y} \newcommand{\aY}{\ {}^{A}Y}
\newcommand{\bY}{\ \leftidx{^B}Y} \newcommand{\bY}{\ {}^{B}Y}
\newcommand{\cY}{\ \leftidx{^c}Y} \newcommand{\cY}{\ {}^{c}Y}
\newcommand{\aXc}{\ \leftidx{^A}X_C} \newcommand{\aXc}{\ {}^{A}X_C}
\newcommand{\aMc}{\ \leftidx{^A}M_C} \newcommand{\aMc}{\ {}^{A}M_C}
\newcommand{\aRc}{\ \leftidx{^A}R_C} \newcommand{\aRc}{\ {}^{A}R_C}
\newcommand{\apc}{\ \leftidx{^A}{AC}{}} \newcommand{\apc}{\ {}^{A}{AC}{}}
\newcommand{\bXc}{\ \leftidx{^B}X_C} \newcommand{\bXc}{\ {}^{B}X_C}
\newcommand{\bRc}{\ \leftidx{^B}R_C} \newcommand{\bRc}{\ {}^{B}R_C}
\newcommand{\bMc}{\ \leftidx{^B}M_C} \newcommand{\bMc}{\ {}^{B}M_C}
\newcommand{\bpc}{\ \leftidx{^B}{BC}{}} \newcommand{\bpc}{\ {}^{B}{BC}{}}
\usepackage{leftidx}
\begin{document} \begin{document}
\title{SE(3) operations} \title{SE(3) operations}
......
...@@ -109,7 +109,7 @@ namespace se3 ...@@ -109,7 +109,7 @@ namespace se3
/// and expressed in the local frame of the joint.. /// and expressed in the local frame of the joint..
container::aligned_vector<Inertia> Ycrb; container::aligned_vector<Inertia> Ycrb;
/// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}$\f. See Data::Ycrb for more details. /// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}\f$. See Data::Ycrb for more details.
container::aligned_vector<Inertia::Matrix6> dYcrb; // TODO: change with dense symmetric matrix6 container::aligned_vector<Inertia::Matrix6> dYcrb; // TODO: change with dense symmetric matrix6
/// \brief The joint space inertia matrix (a square matrix of dim model.nv). /// \brief The joint space inertia matrix (a square matrix of dim model.nv).
...@@ -174,7 +174,7 @@ namespace se3 ...@@ -174,7 +174,7 @@ namespace se3
// dCCRBA return quantities // dCCRBA return quantities
/// \brief Centroidal Momentum Matrix Time Variation /// \brief Centroidal Momentum Matrix Time Variation
/// \note \f$ \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}f$ maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum. /// \note \f$ \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}\f$ maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.
Matrix6x dAg; Matrix6x dAg;
/// \brief Centroidal momentum quantity. /// \brief Centroidal momentum quantity.
...@@ -271,7 +271,7 @@ namespace se3 ...@@ -271,7 +271,7 @@ namespace se3
/// \brief Inverse of the operational-space inertia matrix /// \brief Inverse of the operational-space inertia matrix
Eigen::MatrixXd JMinvJt; Eigen::MatrixXd JMinvJt;
/// \brief Cholesky decompostion of \JMinvJt. /// \brief Cholesky decompostion of \f$\JMinvJt\f$.
Eigen::LLT<Eigen::MatrixXd> llt_JMinvJt; Eigen::LLT<Eigen::MatrixXd> llt_JMinvJt;
/// \brief Lagrange Multipliers corresponding to the contact forces in se3::forwardDynamics. /// \brief Lagrange Multipliers corresponding to the contact forces in se3::forwardDynamics.
......
...@@ -60,7 +60,7 @@ namespace se3 ...@@ -60,7 +60,7 @@ namespace se3
/// \param[in] name Name of the frame. /// \param[in] name Name of the frame.
/// \param[in] parent Index of the parent joint in the kinematic tree. /// \param[in] parent Index of the parent joint in the kinematic tree.
/// \param[in] previousFrame Index of the parent frame in the kinematic tree. /// \param[in] previousFrame Index of the parent frame in the kinematic tree.
/// \param[in] placement Placement of the frame wrt the parent joint frame. /// \param[in] frame_placement Placement of the frame wrt the parent joint frame.
/// \param[in] type The type of the frame, see the enum FrameType /// \param[in] type The type of the frame, see the enum FrameType
/// ///
FrameTpl(const std::string & name, FrameTpl(const std::string & name,
......
...@@ -241,7 +241,7 @@ namespace se3 ...@@ -241,7 +241,7 @@ namespace se3
/// ///
/// This simply corresponds to storing in a re-arranged manner the information stored /// This simply corresponds to storing in a re-arranged manner the information stored
/// in geomModel.geometryObjects and geomModel.collisionPairs. /// in geomModel.geometryObjects and geomModel.collisionPairs.
/// \param[in] GeomModel the geometry model (const) /// \param[in] geomModel the geometry model (const)
/// ///
/// \warning Outer objects are not duplicated (i.e. if a is in outerObjects[b], then /// \warning Outer objects are not duplicated (i.e. if a is in outerObjects[b], then
/// b is not in outerObjects[a]). /// b is not in outerObjects[a]).
...@@ -255,7 +255,7 @@ namespace se3 ...@@ -255,7 +255,7 @@ namespace se3
/// condition can be used to temporarily remove a pair without touching the model, in a versatile /// condition can be used to temporarily remove a pair without touching the model, in a versatile
/// manner. /// manner.
/// \param[in] pairId the index of the pair in GeomModel::collisionPairs vector. /// \param[in] pairId the index of the pair in GeomModel::collisionPairs vector.
/// \param[in] new value of the activation boolean (true by default). /// \param[in] flag value of the activation boolean (true by default).
void activateCollisionPair(const PairIndex pairId,const bool flag=true); void activateCollisionPair(const PairIndex pairId,const bool flag=true);
/// Deactivate a collision pair. /// Deactivate a collision pair.
......
...@@ -98,12 +98,12 @@ namespace se3 ...@@ -98,12 +98,12 @@ namespace se3
} }
/** //
* @brief Associate a GeometryObject of type COLLISION to a joint's inner objects list // @brief Associate a GeometryObject of type COLLISION to a joint's inner objects list
* //
* @param[in] joint Index of the joint // @param[in] joint Index of the joint
* @param[in] inner_object Index of the GeometryObject that will be an inner object // @param[in] inner_object Index of the GeometryObject that will be an inner object
*/ //
// inline void GeometryModel::addInnerObject(const JointIndex joint_id, const GeomIndex inner_object) // inline void GeometryModel::addInnerObject(const JointIndex joint_id, const GeomIndex inner_object)
// { // {
// if (std::find(innerObjects[joint_id].begin(), // if (std::find(innerObjects[joint_id].begin(),
...@@ -114,12 +114,12 @@ namespace se3 ...@@ -114,12 +114,12 @@ namespace se3
// std::cout << "inner object already added" << std::endl; // std::cout << "inner object already added" << std::endl;
// } // }
/** //
* @brief Associate a GeometryObject of type COLLISION to a joint's outer objects list // @brief Associate a GeometryObject of type COLLISION to a joint's outer objects list
* //
* @param[in] joint Index of the joint // @param[in] joint Index of the joint
* @param[in] inner_object Index of the GeometryObject that will be an outer object // @param[in] inner_object Index of the GeometryObject that will be an outer object
*/ //
// inline void GeometryModel::addOutterObject (const JointIndex joint, const GeomIndex outer_object) // inline void GeometryModel::addOutterObject (const JointIndex joint, const GeomIndex outer_object)
// { // {
// if (std::find(outerObjects[joint].begin(), // if (std::find(outerObjects[joint].begin(),
......
...@@ -49,8 +49,7 @@ namespace se3 ...@@ -49,8 +49,7 @@ namespace se3
} }
/// Constructor /// Constructor
/// \param size size of the vector space: should be the equal to template /// \param other other VectorSpaceOperation from which to retrieve size
/// argument for static sized vector-spaces.
VectorSpaceOperation (const VectorSpaceOperation& other) : Base (), size_ (other.size_.value()) VectorSpaceOperation (const VectorSpaceOperation& other) : Base (), size_ (other.size_.value())
{ {
assert (size_.value() >= 0); assert (size_.value() >= 0);
......
...@@ -60,19 +60,19 @@ namespace se3 ...@@ -60,19 +60,19 @@ namespace se3
/// \brief Number of operational frames. /// \brief Number of operational frames.
int nframes; int nframes;
/// \brief Spatial inertias of the body <i> expressed in the supporting joint frame <i>. /// \brief Spatial inertias of the body *i* expressed in the supporting joint frame *i*.
container::aligned_vector<Inertia> inertias; container::aligned_vector<Inertia> inertias;
/// \brief Placement (SE3) of the input of joint <i> regarding to the parent joint output <li>. /// \brief Placement (SE3) of the input of joint *i* regarding to the parent joint output *li*.
container::aligned_vector<SE3> jointPlacements; container::aligned_vector<SE3> jointPlacements;
/// \brief Model of joint <i>, encapsulated in a JointModelAccessor. /// \brief Model of joint *i*, encapsulated in a JointModelAccessor.
JointModelVector joints; JointModelVector joints;
/// \brief Joint parent of joint <i>, denoted <li> (li==parents[i]). /// \brief Joint parent of joint *i*, denoted *li* (li==parents[i]).
std::vector<JointIndex> parents; std::vector<JointIndex> parents;
/// \brief Name of joint <i> /// \brief Name of joint *i*
std::vector<std::string> names; std::vector<std::string> names;
/// \brief Vector of joint's neutral configurations /// \brief Vector of joint's neutral configurations
...@@ -98,8 +98,8 @@ namespace se3 ...@@ -98,8 +98,8 @@ namespace se3
container::aligned_vector<Frame> frames; container::aligned_vector<Frame> frames;
/// \brief Vector of subtrees. /// \brief Vector of subtrees.
/// subtree[j] corresponds to the subtree supported by the joint j. /// subtree[j] corresponds to the subtree supported by the joint *j*.
/// The first element of subtree[j] is the index of the joint j itself. /// The first element of subtree[j] is the index of the joint *j* itself.
std::vector<IndexVector> subtrees; std::vector<IndexVector> subtrees;
/// \brief Spatial gravity of the model. /// \brief Spatial gravity of the model.
...@@ -260,9 +260,9 @@ namespace se3 ...@@ -260,9 +260,9 @@ namespace se3
/// \warning If no joint is found, return the number of elements at time T. /// \warning If no joint is found, return the number of elements at time T.
/// This can lead to errors if the model is expanded after this method is called /// This can lead to errors if the model is expanded after this method is called
/// (for example to get the id of a parent joint) /// (for example to get the id of a parent joint)
/// \param[in] index Index of the joint. /// \param[in] name Name of the joint.
/// ///
/// \return Index of the joint. /// \return name Name of the joint.
/// ///
JointIndex getJointId(const std::string & name) const; JointIndex getJointId(const std::string & name) const;
......
...@@ -19,6 +19,14 @@ ...@@ -19,6 +19,14 @@
#ifndef __se3_force_base_hpp__ #ifndef __se3_force_base_hpp__
#define __se3_force_base_hpp__ #define __se3_force_base_hpp__
/** \addtogroup Force_group Force
*
* This module represents a spatial force, e.g. a spatial impulse or force associated to a body.
* The spatial force is the mathematical representation of \f$ se^{*}(3) \f$, the dual of \f$ se(3) \f$.
*
*
*/
namespace se3 namespace se3
{ {
/** /**
...@@ -83,7 +91,7 @@ namespace se3 ...@@ -83,7 +91,7 @@ namespace se3
* *
* @return The 6D vector \f$ \phi \f$ such that * @return The 6D vector \f$ \phi \f$ such that
* \f{equation*} * \f{equation*}
* \leftidx{^A}\phi = \begin{bmatrix} \leftidx{^A}f \\ \leftidx{^A}\tau \end{bmatrix} * {}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix}
* \f} * \f}
*/ */
ToVectorConstReturnType toVector() const { return derived().toVector_impl(); } ToVectorConstReturnType toVector() const { return derived().toVector_impl(); }
...@@ -161,11 +169,11 @@ namespace se3 ...@@ -161,11 +169,11 @@ namespace se3
/** /**
* @brief Transform from A to B coordinates the Force represented by *this such that * @brief Transform from A to B coordinates the Force represented by *this such that
* \f{equation*} * \f{equation*}
* \leftidx{^B}f = \leftidx{^B}X_A^* * \leftidx{^A}f * {}^{B}f = {}^{B}X_A^* * {}^{A}f
* \f} * \f}
* *
* @param[in] m The rigid transformation \f$ \leftidx{^B}m_A \f$ whose coordinates transform for forces is * @param[in] m The rigid transformation \f$ {}^{B}m_A \f$ whose coordinates transform for forces is
* \leftidx{^B}X_A^* * {}^{B}X_A^*
* *
* @return an expression of the force expressed in the new coordinates * @return an expression of the force expressed in the new coordinates
*/ */
...@@ -176,11 +184,11 @@ namespace se3 ...@@ -176,11 +184,11 @@ namespace se3
/** /**
* @brief Transform from B to A coordinates the Force represented by *this such that * @brief Transform from B to A coordinates the Force represented by *this such that
* \f{equation*} * \f{equation*}
* \leftidx{^A}f = \leftidx{^A}X_B^* * \leftidx{^A}f * {}^{A}f = {}^{A}X_B^* * {}^{A}f
* \f} * \f}
* *
* @param[in] m The rigid transformation \f$ \leftidx{^B}m_A \f$ whose coordinates transform for forces is * @param[in] m The rigid transformation \f$ {}^{B}m_A \f$ whose coordinates transform for forces is
* \leftidx{^B}X_A^* * {}^{B}X_A^*
* *
* @return an expression of the force expressed in the new coordinates * @return an expression of the force expressed in the new coordinates
*/ */
......
...@@ -54,3 +54,4 @@ FORCE_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG) ...@@ -54,3 +54,4 @@ FORCE_TYPEDEF_GENERIC(Derived,PINOCCHIO_MACRO_EMPTY_ARG)
#include "pinocchio/spatial/force-ref.hpp" #include "pinocchio/spatial/force-ref.hpp"
#endif // ifndef __se3_force_hpp__ #endif // ifndef __se3_force_hpp__
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