Verified Commit 8ad498aa authored by Justin Carpentier's avatar Justin Carpentier
Browse files

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<typename Scalar, int Options, template<typename,int> 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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