Verified Commit a2facc31 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

geometry: minor doc improvment

parent 694404b5
......@@ -139,7 +139,6 @@ namespace pinocchio
/// \return The index of the CollisionPair in collisionPairs.
///
PairIndex findCollisionPair(const CollisionPair & pair) const;
///
/// \brief Returns true if *this and other are equal.
......@@ -169,9 +168,8 @@ namespace pinocchio
/// \brief Vector of GeometryObjects used for collision computations
GeometryObjectVector geometryObjects;
///
/// \brief Vector of collision pairs.
///
CollisionPairVector collisionPairs;
}; // struct GeometryModel
......@@ -247,7 +245,7 @@ namespace pinocchio
/// \brief A list of associated collision GeometryObjects to a given joint Id
///
/// Outer objects can be seen as geometry objects that may often be
/// obstacles to the Inner objects of given joint
/// obstacles to the Inner objects of a given joint
std::map<JointIndex,GeomIndexList> outerObjects;
GeometryData(const GeometryModel & geomModel);
......@@ -268,7 +266,7 @@ namespace pinocchio
///
/// Activate a collision pair, for which collisions and distances would now be computed.
///
/// A collision (resp distance) between to geometries of GeomModel::geometryObjects
/// The collision (resp distance) between two geometries of GeomModel::geometryObjects
/// is computed *iff* the corresponding pair has been added in GeomModel::collisionPairs *AND*
/// it is active, i.e. the corresponding boolean in GeomData::activePairs is true. The second
/// condition can be used to temporarily remove a pair without touching the model, in a versatile
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment