Commit bc869871 authored by jcarpent's avatar jcarpent
Browse files

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

parent 0c30440f
......@@ -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;
......
......@@ -146,11 +146,7 @@ namespace se3
nbody ++;
}
inline Model::JointIndex Model::getBodyId (const std::string & name) const
{
return getFrameId(name);
......
......@@ -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.
///
......
This diff is collapsed.
......@@ -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);
......
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