Verified Commit b4e41f56 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/aba: fix doc

parent 37bd32da
......@@ -64,6 +64,7 @@ namespace pinocchio
///
/// \brief Computes the inverse of the joint space inertia matrix using Articulated Body formulation.
/// \remarks Only the upper triangular part of the matrix is filled.
///
/// \tparam JointCollection Collection of Joint types.
/// \tparam ConfigVectorType Type of the joint configuration vector.
......@@ -72,7 +73,7 @@ namespace pinocchio
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration vector (dim model.nq).
///
/// \return The inverse of the joint space inertia matrix stored in data.ddq.
/// \return The inverse of the joint space inertia matrix stored in data.Minv.
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::RowMatrixXs &
......
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