[C++][Doc] Minor inlining + fix doc

src/multibody/model.hpp

@@ -59,13 +59,12 @@ namespace se3
     /// \brief Dimension of the velocity vector space.
     int nv;
     
-    /// \brief Number of joints .
+    /// \brief Number of joints.
     int njoint;
 
-    /// \brief Number of bodies .
+    /// \brief Number of bodies.
     int nbody;
     
-    
     /// \brief Number of operational frames.
     int nFrames;
 
@@ -99,6 +98,7 @@ namespace se3
 
     /// \brief Spatial gravity
     Motion gravity;
+    
     /// \brief Default 3D gravity vector (=(0,0,-9.81)).
     static const Eigen::Vector3d gravity981;
 

src/multibody/model.hxx

@@ -146,11 +146,7 @@ namespace se3
 
     nbody ++;
   }
-
-
- 
-
-
+  
   inline Model::JointIndex Model::getBodyId (const std::string & name) const
   {
     return getFrameId(name);

src/multibody/parser/urdf.hpp

@@ -98,7 +98,7 @@ namespace se3
     ///
     /// \param[in] link The current URDF link.
     /// \param[in] model The model where the link must be added.
-    /// \param[in] placementOffset The relative placement of the link relative to the closer non fixed joint in the tree.
+    /// \param[in] verbose Print parsing info.
     ///
     void parseRootTree (::urdf::LinkConstPtr link,
                         Model & model,
@@ -112,6 +112,7 @@ namespace se3
     /// \param[in] link The current URDF link.
     /// \param[in] model The model where the link must be added.
     /// \param[in] root_joint The specific root joint.
+    /// \param[in] verbose Print parsing info.
     ///
     template <typename D>
     void parseRootTree (::urdf::LinkConstPtr link,
@@ -124,6 +125,7 @@ namespace se3
     ///
     /// \param[in] filemane The URDF complete file path.
     /// \param[in] root_joint The joint at the root of the model tree.
+    /// \param[in] verbose Print parsing info.
     ///
     /// \return The se3::Model of the URDF file.
     ///
@@ -136,6 +138,7 @@ namespace se3
     /// \brief Build the model from a URDF file with a fixed joint as root of the model tree.
     ///
     /// \param[in] filemane The URDF complete file path.
+    /// \param[in] verbose Print parsing info.
     ///
     /// \return The se3::Model of the URDF file.
     ///

src/python/model.hpp

@@ -158,11 +158,11 @@ namespace se3
       static std::vector<std::string> & names ( ModelHandler & m ) { return m->names; }
 
       static Model::Index addJointAndBodyToModel(ModelHandler & modelPtr,
-                                          Model::JointIndex idx, bp::object joint,
-                                          const SE3_fx & placement,
-                                          const Inertia_fx & Y,
-                                          const std::string & jointName,
-                                          const std::string & bodyName)
+                                                 Model::JointIndex idx, bp::object joint,
+                                                 const SE3_fx & placement,
+                                                 const Inertia_fx & Y,
+                                                 const std::string & jointName,
+                                                 const std::string & bodyName)
       { 
         JointModelVariant variant = bp::extract<JointModelVariant> (joint);
         return boost::apply_visitor(add_joint_and_body_visitor(modelPtr, idx, placement, Y, jointName, bodyName), variant);