model: minor clean of the code and doc

src/multibody/model.hpp

@@ -272,32 +272,32 @@ namespace pinocchio
         return false;
       res &= other.referenceConfigurations == referenceConfigurations;
       if(!res) return res;
-      
+
       if(other.rotorInertia.size() != rotorInertia.size())
         return false;
       res &= other.rotorInertia == rotorInertia;
       if(!res) return res;
-      
+
       if(other.rotorGearRatio.size() != rotorGearRatio.size())
         return false;
       res &= other.rotorGearRatio == rotorGearRatio;
       if(!res) return res;
-      
+
       if(other.effortLimit.size() != effortLimit.size())
         return false;
       res &= other.effortLimit == effortLimit;
       if(!res) return res;
-      
+
       if(other.velocityLimit.size() != velocityLimit.size())
         return false;
       res &= other.velocityLimit == velocityLimit;
       if(!res) return res;
-      
+
       if(other.lowerPositionLimit.size() != lowerPositionLimit.size())
         return false;
       res &= other.lowerPositionLimit == lowerPositionLimit;
       if(!res) return res;
-      
+
       if(other.upperPositionLimit.size() != upperPositionLimit.size())
         return false;
       res &= other.upperPositionLimit == upperPositionLimit;
@@ -322,7 +322,7 @@ namespace pinocchio
       return res;
     }
     
-    //
+    ///
     /// \returns true if *this is NOT equal to other.
     ///
     bool operator!=(const ModelTpl & other) const
@@ -391,8 +391,8 @@ namespace pinocchio
     ///
     /// \return The index of the new frame or -1 in case of error.
     ///
-    int addJointFrame(const JointIndex& jointIndex,
-                      int frameIndex = -1);
+    int addJointFrame(const JointIndex & joint_index,
+                      int previous_frame_index = -1);
 
     ///
     /// \brief Append a body to a given joint of the kinematic tree.
@@ -424,11 +424,11 @@ namespace pinocchio
 
     ///
     /// \brief Return the index of a body given by its name.
-    /// 
+    ///
     /// \warning If no body is found, return the number of elements at time T.
     /// This can lead to errors if the model is expanded after this method is called
     /// (for example to get the id of a parent body)
-    /// 
+    ///
     /// \param[in] name Name of the body.
     ///
     /// \return Index of the body.
@@ -483,7 +483,7 @@ namespace pinocchio
     /// \warning If no frame is found, returns the size of the vector of Model::frames.
     /// This can lead to errors if the model is expanded after this method is called
     /// (for example to get the id of a parent frame).
-    /// 
+    ///
     /// \param[in] name Name of the frame.
     /// \param[in] type Type of the frame.
     ///
@@ -503,7 +503,6 @@ namespace pinocchio
     bool existFrame(const std::string & name,
                     const FrameType& type = (FrameType) (JOINT | FIXED_JOINT | BODY | OP_FRAME | SENSOR )) const;
     
-    
     ///
     /// \brief Adds a frame to the kinematic tree.
     ///
@@ -514,13 +513,16 @@ namespace pinocchio
     ///
     int addFrame(const Frame & frame);
 
+    ///
     /// \brief Check the validity of the attributes of Model with respect to the specification of some
     /// algorithms.
     ///
     /// The method is a template so that the checkers can be defined in each algorithms.
     /// \param[in] checker a class, typically defined in the algorithm module, that 
     /// validates the attributes of model.
+    ///
     /// \return true if the Model is valid, false otherwise.
+    ///
     template<typename D>
     inline bool check(const AlgorithmCheckerBase<D> & checker = AlgorithmCheckerBase<D>()) const
     { return checker.checkModel(*this); }
@@ -528,15 +530,18 @@ namespace pinocchio
     /// Run check(fusion::list) with DEFAULT_CHECKERS as argument.
     inline bool check() const;
     
+    ///
     /// \brief Run checkData on data and current model.
     ///
     /// \param[in] data to be checked wrt *this.
     ///
     /// \return true if the data is valid, false otherwise.
+    ///
     inline bool check(const Data & data) const;
 
   protected:
     
+    ///
     /// \brief Add the joint_id to its parent subtrees.
     ///
     /// \param[in] joint_id The id of the joint to add to the subtrees

src/multibody/model.hxx

@@ -147,17 +147,21 @@ namespace pinocchio
   
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
   inline int ModelTpl<Scalar,Options,JointCollectionTpl>::
-  addJointFrame(const JointIndex & jidx,
-                int fidx)
+  addJointFrame(const JointIndex & joint_index,
+                int previous_frame_index)
   {
-    if(fidx < 0) {
+    PINOCCHIO_CHECK_INPUT_ARGUMENT(joint_index >= 0 && joint_index < joints.size(),
+                                   "The joint index is larger than the number of joints in the model.");
+    if(previous_frame_index < 0)
+    {
       // FIXED_JOINT is required because the parent can be the universe and its
       // type is FIXED_JOINT
-      fidx = (int)getFrameId(names[parents[jidx]], (FrameType)(JOINT | FIXED_JOINT));
+      previous_frame_index = (int)getFrameId(names[parents[joint_index]], (FrameType)(JOINT | FIXED_JOINT));
     }
-    assert((size_t)fidx < frames.size() && "Frame index out of bound");
+    assert((size_t)previous_frame_index < frames.size() && "Frame index out of bound");
+    
     // Add a the joint frame attached to itself to the frame vector - redundant information but useful.
-    return addFrame(Frame(names[jidx],jidx,(FrameIndex)fidx,SE3::Identity(),JOINT));
+    return addFrame(Frame(names[joint_index],joint_index,(FrameIndex)previous_frame_index,SE3::Identity(),JOINT));
   }
 
   template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>