Commit ec768dad authored by jcarpent's avatar jcarpent
Browse files

[Doc] Minor correction of the documentation for LieGroups

parent 0e0e5649
......@@ -64,12 +64,12 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
/// \{
/**
* @brief Integrate joint's configuration for a tangent vector during one unit time
* @brief Integrate a joint's configuration with a tangent vector during one unit time duration
*
* @param[in] q initatial configuration (size full model.nq)
* @param[in] v joint velocity (size full model.nv)
* @param[in] q the initial configuration.
* @param[in] v the tangent velocity.
*
* @return The configuration integrated
* @param[out] qout the configuration integrated.
*/
template <class ConfigIn_t, class Tangent_t, class ConfigOut_t>
void integrate(const Eigen::MatrixBase<ConfigIn_t> & q,
......@@ -79,9 +79,9 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
/**
* @brief Computes the Jacobian of the Integrate operation.
*
* @param[in] v joint velocity (size full model.nv)
* @param[in] v tangent velocity.
*
* @return The Jacobian
* @param[out] J the Jacobian of the Integrate operation.
*/
template <class Tangent_t, class JacobianOut_t>
void Jintegrate(const Eigen::MatrixBase<Tangent_t> & v,
......@@ -90,11 +90,11 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
/**
* @brief Interpolation between two joint's configurations
*
* @param[in] q0 Initial configuration to interpolate
* @param[in] q1 Final configuration to interpolate
* @param[in] u u in [0;1] position along the interpolation.
* @param[in] q0 the initial configuration to interpolate.
* @param[in] q1 the final configuration to interpolate.
* @param[in] u in [0;1] the absicca along the interpolation.
*
* @return The interpolated configuration (q0 if u = 0, q1 if u = 1)
* @param[out] qout the interpolated configuration (q0 if u = 0, q1 if u = 1)
*/
template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void interpolate(const Eigen::MatrixBase<ConfigL_t> & q0,
......@@ -103,9 +103,10 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<ConfigOut_t>& qout) const;
/**
* @brief Normalize the joint configuration given as input. For instance, the quaternion must unitary.
* @brief Normalize the joint configuration given as input.
* For instance, the quaternion must be unitary.
*
* @return The normalized joint configuration.
* @param[out] qout the normalized joint configuration.
*/
template <class Config_t>
void normalize (const Eigen::MatrixBase<Config_t>& qout) const;
......@@ -114,9 +115,9 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* @brief Generate a random joint configuration, normalizing quaternions when necessary.
*
* \warning Do not take into account the joint limits. To shoot a configuration uniformingly
* depending on joint limits, see randomConfiguration
* depending on joint limits, see randomConfiguration.
*
* @return The joint configuration
* @param[out] qout the random joint configuration.
*/
template <class Config_t>
void random (const Eigen::MatrixBase<Config_t>& qout) const;
......@@ -125,10 +126,10 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* @brief Generate a configuration vector uniformly sampled among
* provided limits.
*
* @param[in] lower_pos_limit lower joint limit
* @param[in] upper_pos_limit upper joint limit
* @param[in] lower_pos_limit the lower joint limit vector.
* @param[in] upper_pos_limit the upper joint limit vector.
*
* @return The joint configuration
* @param[out] qout the random joint configuration in the two bounds.
*/
template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void randomConfiguration
......@@ -137,25 +138,26 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<ConfigOut_t> & qout) const;
/**
* @brief the tangent vector that must be integrated during one unit time to go from q0 to q1
* @brief Computes the tangent vector that must be integrated during one unit time to go from q0 to q1.
*
* @param[in] q0 Initial configuration
* @param[in] q1 Wished configuration
* @param[in] q0 the initial configuration vector.
* @param[in] q1 the terminal configuration vector.
*
* @return The corresponding velocity
* @param[out] v the corresponding velocity.
*/
template <class ConfigL_t, class ConfigR_t, class Tangent_t>
void difference(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<Tangent_t>& d) const;
const Eigen::MatrixBase<Tangent_t>& v) const;
/**
* @brief Computes the Jacobian of the difference operation
* @brief Computes the Jacobian of the difference operation.
*
* @param[in] q0 Initial configuration
* @param[in] q1 Wished configuration
* @param[in] q0 the initial configuration vector.
* @param[in] q1 the terminal configuration vector.
*
* @return The Jacobian
* @param[out] J0 the Jacobian of the difference operation with respect to q0.
* @param[out] J1 the Jacobian of the difference operation with respect to q1.
*/
template <class ConfigL_t, class ConfigR_t, class JacobianLOut_t, class JacobianROut_t>
void Jdifference(const Eigen::MatrixBase<ConfigL_t> & q0,
......@@ -164,12 +166,12 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<JacobianROut_t>& J1) const;
/**
* @brief Squared distance between two configurations of the joint
* @brief Squared distance between two joint configurations.
*
* @param[in] q0 Configuration 1
* @param[in] q1 Configuration 2
* @param[in] q0 the initial configuration vector.
* @param[in] q1 the terminal configuration vector.
*
* @return The corresponding distance
* @param[out] d the corresponding distance betwenn q0 and q1.
*/
template <class ConfigL_t, class ConfigR_t>
Scalar squaredDistance(const Eigen::MatrixBase<ConfigL_t> & q0,
......@@ -178,17 +180,17 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
/**
* @brief Distance between two configurations of the joint
*
* @param[in] q0 Configuration 1
* @param[in] q1 Configuration 2
* @param[in] q0 the initial configuration vector.
* @param[in] q1 the terminal configuration vector.
*
* @return The corresponding distance
* @return The corresponding distance.
*/
template <class ConfigL_t, class ConfigR_t>
Scalar distance(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1) const;
/**
* @brief Check if two configurations are equivalent within the given precision
* @brief Check if two configurations are equivalent within the given precision.
*
* @param[in] q0 Configuration 0
* @param[in] q1 Configuration 1
......
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