### algo/joint-config: smooth doc

parent 9c706b85
 ... ... @@ -23,7 +23,7 @@ namespace pinocchio * @details This function corresponds to the exponential map of the joint configuration Lie Group. * Its output can be interpreted as the "sum" from the Lie algebra to the joint configuration space \f$q \oplus v \f$. * * @param[in] model Model of the kinematic tree over which the integration is performed. * @param[in] model Model of the kinematic tree on which the integration is performed. * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * ... ... @@ -44,7 +44,7 @@ namespace pinocchio * @details This function corresponds to the exponential map of the joint configuration Lie Group. * Its output can be interpreted as the "sum" from the Lie algebra to the joint configuration space \f$q \oplus v \f$. * * @param[in] model Model of the kinematic tree over which the integration is performed. * @param[in] model Model of the kinematic tree on which the integration is performed. * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * ... ... @@ -65,7 +65,7 @@ namespace pinocchio * * @brief Interpolate two configurations for a given model * * @param[in] model Model of the kinematic tree over which the interpolation is performed. * @param[in] model Model of the kinematic tree on which the interpolation is performed. * @param[in] q0 Initial configuration vector (size model.nq) * @param[in] q1 Final configuration vector (size model.nq) * @param[in] u u in [0;1] position along the interpolation. ... ... @@ -85,7 +85,7 @@ namespace pinocchio * * @brief Interpolate two configurations for a given model * * @param[in] model Model of the kinematic tree over which the interpolation is performed. * @param[in] model Model of the kinematic tree on which the interpolation is performed. * @param[in] q0 Initial configuration vector (size model.nq) * @param[in] q1 Final configuration vector (size model.nq) * @param[in] u u in [0;1] position along the interpolation. ... ... @@ -111,9 +111,9 @@ namespace pinocchio * @details This function corresponds to the log map of the joint configuration Lie Group. * Its output can be interpreted as a difference from the joint configuration space to the Lie algebra \f$q_1 \ominus q_0 \f$. * * @param[in] model Model of the system over which the difference operation is performed. * @param[in] model Model of the system on which the difference operation is performed. * @param[in] q0 Initial configuration (size model.nq) * @param[in] q1 Wished configuration (size model.nq) * @param[in] q1 Desired configuration (size model.nq) * * @param[out] dvout The corresponding velocity (size model.nv) * ... ... @@ -132,9 +132,9 @@ namespace pinocchio * @details This function corresponds to the log map of the joint configuration Lie Group. * Its output can be interpreted as a difference from the joint configuration space to the Lie algebra \f$q_1 \ominus q_0 \f$. * * @param[in] model Model of the system over which the difference operation is performed. * @param[in] model Model of the system on which the difference operation is performed. * @param[in] q0 Initial configuration (size model.nq) * @param[in] q1 Wished configuration (size model.nq) * @param[in] q1 Desired configuration (size model.nq) * * @param[out] dvout The corresponding velocity (size model.nv). * ... ... @@ -153,7 +153,7 @@ namespace pinocchio * * @brief Squared distance between two configuration vectors * * @param[in] model Model of the system over which the squared distance operation is performed. * @param[in] model Model of the system on which the squared distance operation is performed. * @param[in] q0 Configuration 0 (size model.nq) * @param[in] q1 Configuration 1 (size model.nq) * @param[out] out The corresponding squared distances for each joint (size model.njoints-1 = number of joints). ... ... @@ -170,7 +170,7 @@ namespace pinocchio * * @brief Squared distance between two configuration vectors * * @param[in] model Model of the system over which the squared distance operation is performed. * @param[in] model Model of the system on which the squared distance operation is performed. * @param[in] q0 Configuration 0 (size model.nq) * @param[in] q1 Configuration 1 (size model.nq) * @param[out] out The corresponding squared distances for each joint (size model.njoints-1 = number of joints). ... ... @@ -194,7 +194,7 @@ namespace pinocchio * * @warning If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample. * * @param[in] model Model of the system over which the random configuration operation is performed. * @param[in] model Model of the system on which the random configuration operation is performed. * @param[in] lowerLimits Joints lower limits (size model.nq). * @param[in] upperLimits Joints upper limits (size model.nq). * @param[out] qout The resulting configuration vector (size model.nq). ... ... @@ -215,7 +215,7 @@ namespace pinocchio * * @warning If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample * * @param[in] model Model of the system over which the random configuration operation is performed. * @param[in] model Model of the system on which the random configuration operation is performed. * @param[in] lowerLimits Joints lower limits (size model.nq). * @param[in] upperLimits Joints upper limits (size model.nq). * @param[out] qout The resulting configuration vector (size model.nq). ... ... @@ -235,7 +235,7 @@ namespace pinocchio * * @brief Return the neutral configuration element related to the model configuration space. * * @param[in] model Model of the kinematic tree over which the neutral element is computed * @param[in] model Model of the kinematic tree on which the neutral element is computed * * @param[out] qout The neutral configuration element (size model.nq). * ... ... @@ -249,7 +249,7 @@ namespace pinocchio * * @brief Return the neutral configuration element related to the model configuration space. * * @param[in] model Model of the kinematic tree over which the neutral element is computed. * @param[in] model Model of the kinematic tree on which the neutral element is computed. * * @param[out] qout The neutral configuration element (size model.nq). * ... ... @@ -273,7 +273,7 @@ namespace pinocchio * - Jacobian relative to q: \f$f(q \oplus \delta q, v) \ominus f(q, v) = J_q \delta q + o(\delta q)\f$. * - Jacobian relative to v: \f$f(q, v + \delta v) \ominus f(q, v) = J_v \delta v + o(\delta v)\f$. * * @param[in] model Model that must be integrated * @param[in] model Model of the kinematic tree on which the integration operation is performed. * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * @param[out] J Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv). ... ... @@ -298,11 +298,11 @@ namespace pinocchio * - Jacobian relative to q: \f$f(q \oplus \delta q, v) \ominus f(q, v) = J_q(q, v) \delta q + o(\delta q)\f$. * - Jacobian relative to v: \f$f(q, v + \delta v) \ominus f(q, v) = J_v(q, v) \delta v + o(\delta v)\f$. * * @param[in] model Model that must be integrated * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * @param[out] J Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv). * @param[in] arg Argument (either q or v) with respect to which the differentiation is performed. * @param[in] model Model of the kinematic tree on which the integration operation is performed. * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * @param[out] J Jacobian of the Integrate operation, either with respect to q or v (size model.nv x model.nv). * @param[in] arg Argument (either q or v) with respect to which the differentiation is performed. * */ template class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType> ... ... @@ -556,7 +556,7 @@ namespace pinocchio * * @brief Integrate a configuration vector for the specified model for a tangent vector during one unit time * * @param[in] model Model of the kinematic tree over which the integration operation is performed. * @param[in] model Model of the kinematic tree on which the integration operation is performed. * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * ... ... @@ -573,7 +573,7 @@ namespace pinocchio * * @brief Integrate a configuration vector for the specified model for a tangent vector during one unit time. * * @param[in] model Model of the kinematic tree over which the integration operation is performed. * @param[in] model Model of the kinematic tree on which the integration operation is performed. * @param[in] q Initial configuration (size model.nq) * @param[in] v Joint velocity (size model.nv) * ... ... @@ -593,7 +593,7 @@ namespace pinocchio * * @brief Interpolate two configurations for a given model. * * @param[in] model Model of the kinematic tree over which the interpolation operation is performed. * @param[in] model Model of the kinematic tree on which the interpolation operation is performed. * @param[in] q0 Initial configuration vector (size model.nq) * @param[in] q1 Final configuration vector (size model.nq) * @param[in] u u in [0;1] position along the interpolation. ... ... @@ -612,7 +612,7 @@ namespace pinocchio * * @brief Interpolate two configurations for a given model. * * @param[in] model Model of the kinematic tree over which the interpolation operation is performed. * @param[in] model Model of the kinematic tree on which the interpolation operation is performed. * @param[in] q0 Initial configuration vector (size model.nq) * @param[in] q1 Final configuration vector (size model.nq) * @param[in] u u in [0;1] position along the interpolation. ... ... @@ -634,7 +634,7 @@ namespace pinocchio * * @brief Compute the tangent vector that must be integrated during one unit time to go from q0 to q1 * * @param[in] model Model of the kinematic tree over which the difference operation is performed. * @param[in] model Model of the kinematic tree on which the difference operation is performed. * @param[in] q0 Initial configuration (size model.nq) * @param[in] q1 Finial configuration (size model.nq) * ... ... @@ -651,7 +651,7 @@ namespace pinocchio * * @brief Compute the tangent vector that must be integrated during one unit time to go from q0 to q1. * * @param[in] model Model of the kinematic tree over which the difference operation is performed. * @param[in] model Model of the kinematic tree on which the difference operation is performed. * @param[in] q0 Initial configuration (size model.nq) * @param[in] q1 Final configuration (size model.nq) * ... ... @@ -671,7 +671,7 @@ namespace pinocchio * * @brief Squared distance between two configurations. * * @param[in] model Model of the kinematic tree over which the squared distance operation is performed. * @param[in] model Model of the kinematic tree on which the squared distance operation is performed. * @param[in] q0 Configuration 0 (size model.nq) * @param[in] q1 Configuration 1 (size model.nq) * ... ... @@ -688,7 +688,7 @@ namespace pinocchio * * @brief Squared distance between two configuration vectors * * @param[in] model Model of the kinematic tree over which the squared distance operation is performed. * @param[in] model Model of the kinematic tree on which the squared distance operation is performed. * @param[in] q0 Configuration 0 (size model.nq) * @param[in] q1 Configuration 1 (size model.nq) * ... ... @@ -712,7 +712,7 @@ namespace pinocchio * * @warning If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample * * @param[in] model Model of the kinematic tree over which the uniform sampling operation is performed. * @param[in] model Model of the kinematic tree on which the uniform sampling operation is performed. * @param[in] lowerLimits Joints lower limits (size model.nq). * @param[in] upperLimits Joints upper limits (size model.nq). * ... ... @@ -733,7 +733,7 @@ namespace pinocchio * * @warning If limits are infinite, exceptions may be thrown in the joint implementation of uniformlySample * * @param[in] model Model of the kinematic tree over which the uniform sampling operation is performed. * @param[in] model Model of the kinematic tree on which the uniform sampling operation is performed. * @param[in] lowerLimits Joints lower limits (size model.nq). * @param[in] upperLimits Joints upper limits (size model.nq). * ... ... @@ -758,7 +758,7 @@ namespace pinocchio * @warning If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit}, * exceptions may be thrown in the joint implementation of uniformlySample * * @param[in] model Model of the kinematic tree over which the uniform sampling operation is performed. * @param[in] model Model of the kinematic tree on which the uniform sampling operation is performed. * * @return The resulting configuration vector (size model.nq) * ... ... @@ -776,7 +776,7 @@ namespace pinocchio * @warning If limits are infinite (no one specified when adding a body or no modification directly in my_model.{lowerPositionLimit,upperPositionLimit}, * exceptions may be thrown in the joint implementation of uniformlySample * * @param[in] model Model of the kinematic tree over which the uniform sampling operation is performed. * @param[in] model Model of the kinematic tree on which the uniform sampling operation is performed. * * @return The resulting configuration vector (size model.nq). * ... ... @@ -792,7 +792,7 @@ namespace pinocchio * * @brief Return the neutral configuration element related to the model configuration space. * * @param[in] model Model of the kinematic tree over which the neutral element is computed. * @param[in] model Model of the kinematic tree on which the neutral element is computed. * * @return The neutral configuration element (size model.nq). * ... ... @@ -804,7 +804,7 @@ namespace pinocchio /** * @brief Return the neutral configuration element related to the model configuration space. * * @param[in] model Model of the kinematic tree over which the neutral element is computed. * @param[in] model Model of the kinematic tree on which the neutral element is computed. * * @return The neutral configuration element (size model.nq). */ ... ...
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