Commit 82cedf66 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

[Doc] Fix stylesheet + fix some doxygen errors.

parent 33cd9669
......@@ -22,6 +22,7 @@ IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
ENDIF()
SET(DOXYGEN_USE_MATHJAX YES)
SET(DOXYGEN_USE_TEMPLATE_CSS YES)
INCLUDE(cmake/base.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
......
......@@ -107,12 +107,12 @@ Therefore `tau` is `numpy` matrix object, and so are `q`, `v` and `a`.
Before we move on, a little tip: in our examples, we generaly include the whole namespace `pinocchio` for clarity.
However, if you feel like "pinocchio" is too long to type, the recommended shorthands are
```
```{.cpp}
namespace pin = pinocchio;
```
in C++
and
```
```{.py}
import pinocchio as pin
```
in Python.
......
......@@ -111,11 +111,11 @@ namespace pinocchio {
// Modules organization
//
/** \defgroup spatial Spatial */
/** \defgroup multibody Multibody */
/** \defgroup joint Joint */
/** \defgroup parsers Parsers */
/** \defgroup algorithms Algorithms */
/** \defgroup pinocchio_spatial Spatial */
/** \defgroup pinocchio_multibody Multibody */
/** \defgroup pinocchio_joint Joint */
/** \defgroup pinocchio_parsers Parsers */
/** \defgroup pinocchio_algorithms Algorithms */
/// \namespace pinocchio::container
/// \brief Specialized containers
......
......@@ -59,12 +59,10 @@ namespace pinocchio
return computeCentroidalMomentum(model,data);
}
/// \copydoc pinocchio::computeCentroidalMomentum
///
/// \brief This function has been renamed into computeCentroidalMomentum. This signature will be removed in a future release of Pinocchio.
/// \deprecated This function has been renamed into \ref computeCentroidalMomentum. This signature will be removed in a future release of Pinocchio.
/// Please consider using this new naming.
///
/// \copydoc pinocchio::computeCentroidalMomentum<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType>
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType>
PINOCCHIO_DEPRECATED
......@@ -127,12 +125,10 @@ namespace pinocchio
return computeCentroidalMomentumTimeVariation(model,data);
}
/// \copydoc pinocchio::computeCentroidalMomentumTimeVariation
///
/// \brief This function has been renamed into computeCentroidalMomentumTimeVariation. This signature will be removed in a future release of Pinocchio.
/// \deprecated This function has been renamed into \ref computeCentroidalMomentumTimeVariation. This signature will be removed in a future release of Pinocchio.
/// Please consider using this new naming.
///
/// \copydoc pinocchio::computeCentroidalMomentumTimeVariation<Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType1,TangentVectorType2>
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
PINOCCHIO_DEPRECATED
......
......@@ -45,7 +45,8 @@ namespace pinocchio
} // namespace pinocchio
/** --- \cond Details -------------------------------------------------------------------- */
/** \internal
* ---------------------------------------------------------------------------------- */
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
......@@ -246,7 +247,8 @@ namespace pinocchio
computePotentialEnergy(model, data);
}
} /// \endcond namespace pinocchio
} // namespace pinocchio
/// \endinternal
#endif // ifndef __pinocchio_compute_all_terms_hpp__
......
......@@ -12,7 +12,7 @@
namespace pinocchio
{
///
/// \brief Copy part of the data from <orig> to <dest>. Template parameter can be
/// \brief Copy part of the data from \c origin to \c dest. Template parameter can be
/// used to select at which differential level the copy should occur.
///
/// \tparam JointCollection Collection of Joint types.
......@@ -34,7 +34,7 @@ namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
//#include "pinocchio/algorithm/copy.hxx"
/// \internal
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
......@@ -67,5 +67,6 @@ namespace pinocchio
} // namespace pinocchio
/// \endinternal
#endif // ifndef __pinocchio_copy_hpp__
......@@ -127,7 +127,7 @@ namespace pinocchio
///
/// \brief Computes all the terms required to compute the second order derivatives of the placement information, also know as the
/// kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. \See computeJointJacobians
/// kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See \ref computeJointJacobians
/// for such a function.
///
/// \tparam Scalar Scalar type of the kinematic model.
......
......@@ -78,7 +78,7 @@ namespace pinocchio
* \brief Build a reduced model from a given input model and a list of joint to lock.
*
* \param[in] model the input model to reduce.
* \param[in] list_of_joints list of joints to lock in the input model.
* \param[in] list_of_joints_to_lock list of joints to lock in the input model.
* \param[in] reference_configuration reference configuration.
* \param[out] reduced_model the reduced model.
*
......@@ -97,7 +97,7 @@ namespace pinocchio
* \brief Build a reduced model from a given input model and a list of joint to lock.
*
* \param[in] model the input model to reduce.
* \param[in] list_of_joints list of joints to lock in the input model.
* \param[in] list_of_joints_to_lock list of joints to lock in the input model.
* \param[in] reference_configuration reference configuration.
*
* \returns A reduce model of the input model.
......@@ -125,7 +125,7 @@ namespace pinocchio
*
* \param[in] model the input model to reduce.
* \param[in] geom_model the input geometry model to reduce.
* \param[in] list_of_joints list of joints to lock in the input model.
* \param[in] list_of_joints_to_lock list of joints to lock in the input model.
* \param[in] reference_configuration reference configuration.
* \param[out] reduced_model the reduced model.
* \param[out] reduced_geom_model the reduced geometry model.
......
......@@ -200,7 +200,7 @@ namespace pinocchio
}
}
/// Overloading of max operator
// Overloading of max operator
namespace pinocchio
{
namespace math
......
......@@ -60,7 +60,7 @@ namespace Eigen
}
} //namespace Eigen
/// Source from #include <cppad/example/cppad_eigen.hpp>
// Source from #include <cppad/example/cppad_eigen.hpp>
namespace Eigen
{
template <class Base> struct NumTraits< CppAD::AD<Base> >
......@@ -114,7 +114,7 @@ namespace Eigen
};
} // namespace Eigen
/// Source from #include <cppad/example/cppad_eigen.hpp>
// Source from #include <cppad/example/cppad_eigen.hpp>
namespace CppAD
{
// functions that return references
......
......@@ -13,7 +13,7 @@ namespace pinocchio
{
/**
* \addtogroup multibody
* \addtogroup pinocchio_multibody
* @{
*/
......
......@@ -10,12 +10,14 @@
namespace pinocchio
{
/// \internal
enum { MAX_JOINT_NV = 6 };
/// \endinternal
/**
* \addtogroup joint
* \addtogroup pinocchio_joint
* @{
*/
enum { MAX_JOINT_NV = 6 };
struct JointModelVoid {};
struct JointDataVoid {};
......
......@@ -51,6 +51,7 @@ namespace pinocchio
* @param[in] jmodel The corresponding JointModelVariant to the JointDataVariant we want to update
* @param jdata The JointDataVariant we want to update
* @param[in] q The full model's (in which the joint belongs to) configuration vector
* @param[in] v The full model's (in which the joint belongs to) velocity vector
*/
template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline void calc_first_order(const JointModelTpl<Scalar,Options,JointCollectionTpl> & jmodel,
......
......@@ -12,6 +12,7 @@ namespace pinocchio
{
namespace urdf
{
/// \internal
namespace details
{
struct UrdfTree
......@@ -486,5 +487,6 @@ namespace pinocchio
visitor, geomModel, hint_directories,type);
}
} // namespace details
/// \endinternal
} // namespace urdf
} // namespace pinocchio
......@@ -32,7 +32,7 @@ namespace pinocchio
///
/// \brief Extract the type of the given model file according to its extension
///
/// \param[in] filemane The complete path to the model file.
/// \param[in] filename The complete path to the model file.
///
/// \return The type of the extension of the model file
///
......
......@@ -6,20 +6,15 @@
#ifndef __pinocchio_force_base_hpp__
#define __pinocchio_force_base_hpp__
/**
*
* 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$.
*
*
*/
namespace pinocchio
{
/**
* @brief Base interface for forces representation.
* @details The Class implements all
* \ingroup Force_group
* \ingroup pinocchio_spatial
*
* This class hierarchy represents a spatial force, e.g. a spatial impulse or force associated to a body.
* The spatial force is the mathematical representation of \f$ se^{*}(3) \f$, the dual of \f$ se(3) \f$.
*
* @tparam Derived { description }
*/
......
......@@ -11,24 +11,7 @@
namespace pinocchio
{
template<typename Scalar, int Options=0> struct SE3Tpl;
template<typename Derived> class MotionBase;
template<typename Derived> class MotionDense;
template<typename Vector6ArgType> class MotionRef;
template<typename Scalar, int Options=0> class MotionTpl;
template<typename Scalar, int Options=0> struct MotionZeroTpl;
template<typename Scalar, int Options=0> struct PINOCCHIO_DEPRECATED BiasZeroTpl;
template<typename Derived> class ForceBase;
template<typename Derived> class ForceDense;
template<typename Vector6ArgType> class ForceRef;
template<typename Scalar, int Options=0> class ForceTpl;
template<typename Scalar, int Options=0> class InertiaTpl;
template<typename Scalar, int Options=0> class Symmetric3Tpl;
/// \internal
namespace internal
{
/// \brief Default return type for the operation: Type*Scalar
......@@ -45,11 +28,30 @@ namespace pinocchio
typedef Type ReturnType;
};
}
/// \endinternal
/**
* \addtogroup spatial
* \addtogroup pinocchio_spatial
* @{
*/
template<typename Scalar, int Options=0> struct SE3Tpl;
template<typename Derived> class MotionBase;
template<typename Derived> class MotionDense;
template<typename Vector6ArgType> class MotionRef;
template<typename Scalar, int Options=0> class MotionTpl;
template<typename Scalar, int Options=0> struct MotionZeroTpl;
template<typename Scalar, int Options=0> struct PINOCCHIO_DEPRECATED BiasZeroTpl;
template<typename Derived> class ForceBase;
template<typename Derived> class ForceDense;
template<typename Vector6ArgType> class ForceRef;
template<typename Scalar, int Options=0> class ForceTpl;
template<typename Scalar, int Options=0> class InertiaTpl;
template<typename Scalar, int Options=0> class Symmetric3Tpl;
typedef SE3Tpl <double,0> SE3;
typedef MotionTpl <double,0> Motion;
......
......@@ -8,7 +8,9 @@
namespace pinocchio
{
/** The rigid transform aMb can be seen in two ways:
/** \brief Base class for rigid transformation.
*
* The rigid transform aMb can be seen in two ways:
*
* - given a point p expressed in frame B by its coordinate vector \f$ ^bp \f$, \f$ ^aM_b \f$
* computes its coordinates in frame A by \f$ ^ap = {}^aM_b {}^bp \f$.
......@@ -21,6 +23,8 @@ namespace pinocchio
* where \f$^aAB\f$ is the vector from origin A to origin B expressed in coordinates A.
*
* \cheatsheet \f$ {}^aM_c = {}^aM_b {}^bM_c \f$
*
* \ingroup pinocchio_spatial
*/
template<class Derived>
struct SE3Base
......
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