Verified Commit d24e293b authored by Justin Carpentier's avatar Justin Carpentier
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doc: improvement

parent b064cc01
//
// Copyright (c) 2016-2020 CNRS INRIA
// Copyright (c) 2016-2021 CNRS INRIA
//
#ifndef __pinocchio_algorithm_joint_configuration_hpp__
......@@ -350,6 +350,7 @@ namespace pinocchio
*
* @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$ q \oplus v \f$,
* to the tangent space at \f$ q \f$.
* It performs the product with the Jacobian of integrate by exploiting at best the sparsity of the underlying operations.
* In other words, this functions transforms a tangent vector expressed at \f$ q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of configuration between
* \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent vector.
* A typical example of parallel transportation is the action operated by a rigid transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$.
......@@ -378,6 +379,7 @@ namespace pinocchio
*
* @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$ q \oplus v \f$,
* to the tangent space at \f$ q \f$.
* It performs the product with the Jacobian of integrate by exploiting at best the sparsity of the underlying operations.
* In other words, this functions transforms a tangent vector expressed at \f$ q \oplus v \f$ to a tangent vector expressed at \f$ q \f$, considering that the change of configuration between
* \f$ q \oplus v \f$ and \f$ q \f$ may alter the value of this tangent vector.
* A typical example of parallel transportation is the action operated by a rigid transformation \f$ M \in \text{SE}(3)\f$ on a spatial velocity \f$ v \in \text{se}(3)\f$.
......
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