Commit d2d0528a authored by Valenza Florian's avatar Valenza Florian
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[C++][Doc] Updated doc

parent 40272585
......@@ -27,7 +27,7 @@ namespace se3
///
/// \brief Computes the center of mass position of a given model according to a particular joint configuration.
/// The result is accessible throw data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame).
/// The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame).
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
......@@ -45,7 +45,7 @@ namespace se3
///
/// \brief Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration.
/// The result is accessible throw data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation.
/// The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation.
/// And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame).
///
/// \param[in] model The model structure of the rigid body system.
......@@ -66,7 +66,7 @@ namespace se3
///
/// \brief Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration.
/// The result is accessible throw data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation.
/// The result is accessible through data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation.
/// And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame).
///
/// \param[in] model The model structure of the rigid body system.
......@@ -89,7 +89,7 @@ namespace se3
///
/// \brief Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration.
/// The results are accessible throw data.Jcom and data.com[0] and are both expressed in the world frame.
/// The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame.
/// And data.com[i] gives the center of mass of the subtree supported by joint i (expressed in the joint i frame).
///
/// \param[in] model The model structure of the rigid body system.
......@@ -121,7 +121,7 @@ namespace se3
///
/// \brief Extracts both the jacobian of the center of mass (CoM) and the CoM position from the joint space inertia matrix (also called the mass matrix).
/// The results are accessible throw data.Jcom and data.com[0] and are both expressed in the world frame.
/// The results are accessible through data.Jcom and data.com[0] and are both expressed in the world frame.
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
......
......@@ -30,7 +30,7 @@ namespace se3
///
/// \brief Computes the upper triangular part of the joint space inertia matrix M by
/// using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008).
/// The result is accessible throw data.M.
/// The result is accessible through data.M.
///
/// \note You can easly get data.M symetric by copying the stricly upper trinangular part
/// in the stricly lower tringular part with
......@@ -50,7 +50,7 @@ namespace se3
///
/// \brief Computes the upper triangular part of the joint space inertia matrix M by
/// using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008).
/// The result is accessible throw data.M.
/// The result is accessible through data.M.
///
/// \note You can easly get data.M symetric by copying the stricly upper trinangular part
/// in the stricly lower tringular part with
......
......@@ -25,7 +25,7 @@ namespace se3 {
///
/// \brief Computes the kinetic energy of the system.
/// The result is accessible throw data.kinetic_energy.
/// The result is accessible through data.kinetic_energy.
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
......@@ -43,7 +43,7 @@ namespace se3 {
///
/// \brief Computes the potential energy of the system, i.e. the potential energy linked to the gravity field.
/// The result is accessible throw data.potential_energy.
/// The result is accessible through data.potential_energy.
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
......
......@@ -24,7 +24,7 @@ namespace se3
{
///
/// \brief Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame.
/// The result is accessible throw data.J.
/// The result is accessible through data.J.
///
/// \note This Jacobian does not correspond to any specific joint frame Jacobian. From this Hacobian, it is then possible to easily extract the Jacobian of a specific joint frame.
///
......
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