Verified Commit a2facc31 authored by Justin Carpentier's avatar Justin Carpentier
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geometry: minor doc improvment

parent 694404b5
...@@ -139,7 +139,6 @@ namespace pinocchio ...@@ -139,7 +139,6 @@ namespace pinocchio
/// \return The index of the CollisionPair in collisionPairs. /// \return The index of the CollisionPair in collisionPairs.
/// ///
PairIndex findCollisionPair(const CollisionPair & pair) const; PairIndex findCollisionPair(const CollisionPair & pair) const;
/// ///
/// \brief Returns true if *this and other are equal. /// \brief Returns true if *this and other are equal.
...@@ -169,9 +168,8 @@ namespace pinocchio ...@@ -169,9 +168,8 @@ namespace pinocchio
/// \brief Vector of GeometryObjects used for collision computations /// \brief Vector of GeometryObjects used for collision computations
GeometryObjectVector geometryObjects; GeometryObjectVector geometryObjects;
///
/// \brief Vector of collision pairs. /// \brief Vector of collision pairs.
///
CollisionPairVector collisionPairs; CollisionPairVector collisionPairs;
}; // struct GeometryModel }; // struct GeometryModel
...@@ -247,7 +245,7 @@ namespace pinocchio ...@@ -247,7 +245,7 @@ namespace pinocchio
/// \brief A list of associated collision GeometryObjects to a given joint Id /// \brief A list of associated collision GeometryObjects to a given joint Id
/// ///
/// Outer objects can be seen as geometry objects that may often be /// 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; std::map<JointIndex,GeomIndexList> outerObjects;
GeometryData(const GeometryModel & geomModel); GeometryData(const GeometryModel & geomModel);
...@@ -268,7 +266,7 @@ namespace pinocchio ...@@ -268,7 +266,7 @@ namespace pinocchio
/// ///
/// Activate a collision pair, for which collisions and distances would now be computed. /// 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* /// 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 /// 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 /// condition can be used to temporarily remove a pair without touching the model, in a versatile
......
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