diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 527821c56913ceb3c28e13825fa7be86a6b36368..4571d7c1937286e95d4d92f0ed8e96c9c7288375 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -530,7 +530,7 @@ GENERATE_LATEX = YES
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
# packages that should be included in the LaTeX output.
-EXTRA_PACKAGES += leftidx
+EXTRA_PACKAGES +=
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
diff --git a/doc/latex/se3.tex b/doc/latex/se3.tex
index 382e9850eb845fcde382ef4654329af6f9d69fa2..ffe95c0022a54d083a16f202dc90412c3fc43a5c 100644
--- a/doc/latex/se3.tex
+++ b/doc/latex/se3.tex
@@ -11,52 +11,50 @@
\newcommand{\dpartial}[2]{\frac{\partial{#1}}{\partial{#2}}}
\newcommand{\ddpartial}[2]{\frac{\partial^2{#1}}{\partial{#2}^2}}
-\newcommand{\aRb}{\ \leftidx{^A}R_B}
-\newcommand{\aMb}{\ \leftidx{^A}M_B}
-\newcommand{\amb}{\ \leftidx{^A}m_B}
-\newcommand{\apb}{{\ \leftidx{^A}{AB}{}}}
-\newcommand{\aXb}{\ \leftidx{^A}X_B}
-
-\newcommand{\bRa}{\ \leftidx{^B}R_A}
-\newcommand{\bMa}{\ \leftidx{^B}M_A}
-\newcommand{\bma}{\ \leftidx{^B}m_A}
-\newcommand{\bpa}{\ \leftidx{^B}{BA}{}}
-\newcommand{\bXa}{\ \leftidx{^B}X_A}
-
-\newcommand{\ap}{\ \leftidx{^A}p}
-\newcommand{\bp}{\ \leftidx{^B}p}
-
-\newcommand{\afs}{\ \leftidx{^A}\phi}
-\newcommand{\bfs}{\ \leftidx{^B}\phi}
-\newcommand{\af}{\ \leftidx{^A}f}
-\renewcommand{\bf}{\ \leftidx{^B}f}
-\newcommand{\an}{\ \leftidx{^A}\tau}
-\newcommand{\bn}{\ \leftidx{^B}\tau}
-
-\newcommand{\avs}{\ \leftidx{^A}\nu}
-\newcommand{\bvs}{\ \leftidx{^B}\nu}
+\newcommand{\aRb}{\ {}^{A}R_B}
+\newcommand{\aMb}{\ {}^{A}M_B}
+\newcommand{\amb}{\ {}^{A}m_B}
+\newcommand{\apb}{{\ {}^{A}{AB}{}}}
+\newcommand{\aXb}{\ {}^{A}X_B}
+
+\newcommand{\bRa}{\ {}^{B}R_A}
+\newcommand{\bMa}{\ {}^{B}M_A}
+\newcommand{\bma}{\ {}^{B}m_A}
+\newcommand{\bpa}{\ {}^{B}{BA}{}}
+\newcommand{\bXa}{\ {}^{B}X_A}
+
+\newcommand{\ap}{\ {}^{A}p}
+\newcommand{\bp}{\ {}^{B}p}
+
+\newcommand{\afs}{\ {}^{A}\phi}
+\newcommand{\bfs}{\ {}^{B}\phi}
+\newcommand{\af}{\ {}^{A}f}
+\renewcommand{\bf}{\ {}^{B}f}
+\newcommand{\an}{\ {}^{A}\tau}
+\newcommand{\bn}{\ {}^{B}\tau}
+
+\newcommand{\avs}{\ {}^{A}\nu}
+\newcommand{\bvs}{\ {}^{B}\nu}
\newcommand{\w}{\omega}
-\newcommand{\av}{\ \leftidx{^A}v}
-\newcommand{\bv}{\ \leftidx{^B}v}
-\newcommand{\aw}{\ \leftidx{^A}\w}
-\newcommand{\bw}{\ \leftidx{^B}\w}
-
-\newcommand{\aI}{\ \leftidx{^A}I}
-\newcommand{\bI}{\ \leftidx{^B}I}
-\newcommand{\cI}{\ \leftidx{^C}I}
-\newcommand{\aY}{\ \leftidx{^A}Y}
-\newcommand{\bY}{\ \leftidx{^B}Y}
-\newcommand{\cY}{\ \leftidx{^c}Y}
-\newcommand{\aXc}{\ \leftidx{^A}X_C}
-\newcommand{\aMc}{\ \leftidx{^A}M_C}
-\newcommand{\aRc}{\ \leftidx{^A}R_C}
-\newcommand{\apc}{\ \leftidx{^A}{AC}{}}
-\newcommand{\bXc}{\ \leftidx{^B}X_C}
-\newcommand{\bRc}{\ \leftidx{^B}R_C}
-\newcommand{\bMc}{\ \leftidx{^B}M_C}
-\newcommand{\bpc}{\ \leftidx{^B}{BC}{}}
-
-\usepackage{leftidx}
+\newcommand{\av}{\ {}^{A}v}
+\newcommand{\bv}{\ {}^{B}v}
+\newcommand{\aw}{\ {}^{A}\w}
+\newcommand{\bw}{\ {}^{B}\w}
+
+\newcommand{\aI}{\ {}^{A}I}
+\newcommand{\bI}{\ {}^{B}I}
+\newcommand{\cI}{\ {}^{C}I}
+\newcommand{\aY}{\ {}^{A}Y}
+\newcommand{\bY}{\ {}^{B}Y}
+\newcommand{\cY}{\ {}^{c}Y}
+\newcommand{\aXc}{\ {}^{A}X_C}
+\newcommand{\aMc}{\ {}^{A}M_C}
+\newcommand{\aRc}{\ {}^{A}R_C}
+\newcommand{\apc}{\ {}^{A}{AC}{}}
+\newcommand{\bXc}{\ {}^{B}X_C}
+\newcommand{\bRc}{\ {}^{B}R_C}
+\newcommand{\bMc}{\ {}^{B}M_C}
+\newcommand{\bpc}{\ {}^{B}{BC}{}}
\begin{document}
\title{SE(3) operations}
diff --git a/src/multibody/frame.hpp b/src/multibody/frame.hpp
index 99869428f9baa5fd3275adf3063fab2e036b626d..5cf88e4c5637da3e2943a9627fb21d9bf81284a4 100644
--- a/src/multibody/frame.hpp
+++ b/src/multibody/frame.hpp
@@ -60,7 +60,7 @@ namespace se3
/// \param[in] name Name of the frame.
/// \param[in] parent Index of the parent joint in the kinematic tree.
/// \param[in] previousFrame Index of the parent frame in the kinematic tree.
- /// \param[in] placement Placement of the frame wrt the parent joint frame.
+ /// \param[in] frame_placement Placement of the frame wrt the parent joint frame.
/// \param[in] type The type of the frame, see the enum FrameType
///
FrameTpl(const std::string & name,
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index f3fddd215f570105706eaebe8bf1add296c7e3e8..b9ba60b2e81be81fd52b0905e17f4e55257fadf9 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -241,7 +241,7 @@ namespace se3
///
/// This simply corresponds to storing in a re-arranged manner the information stored
/// in geomModel.geometryObjects and geomModel.collisionPairs.
- /// \param[in] GeomModel the geometry model (const)
+ /// \param[in] geomModel the geometry model (const)
///
/// \warning Outer objects are not duplicated (i.e. if a is in outerObjects[b], then
/// b is not in outerObjects[a]).
@@ -255,7 +255,7 @@ namespace se3
/// condition can be used to temporarily remove a pair without touching the model, in a versatile
/// manner.
/// \param[in] pairId the index of the pair in GeomModel::collisionPairs vector.
- /// \param[in] new value of the activation boolean (true by default).
+ /// \param[in] flag value of the activation boolean (true by default).
void activateCollisionPair(const PairIndex pairId,const bool flag=true);
/// Deactivate a collision pair.
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 4bad2f94a3de1a9988c4c759b6d035cb607664e3..32f8b311c90003f925b287467a07f7936060929b 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -98,12 +98,12 @@ namespace se3
}
- /**
- * @brief Associate a GeometryObject of type COLLISION to a joint's inner objects list
- *
- * @param[in] joint Index of the joint
- * @param[in] inner_object Index of the GeometryObject that will be an inner object
- */
+ //
+ // @brief Associate a GeometryObject of type COLLISION to a joint's inner objects list
+ //
+ // @param[in] joint Index of the joint
+ // @param[in] inner_object Index of the GeometryObject that will be an inner object
+ //
// inline void GeometryModel::addInnerObject(const JointIndex joint_id, const GeomIndex inner_object)
// {
// if (std::find(innerObjects[joint_id].begin(),
@@ -114,12 +114,12 @@ namespace se3
// std::cout << "inner object already added" << std::endl;
// }
- /**
- * @brief Associate a GeometryObject of type COLLISION to a joint's outer objects list
- *
- * @param[in] joint Index of the joint
- * @param[in] inner_object Index of the GeometryObject that will be an outer object
- */
+ //
+ // @brief Associate a GeometryObject of type COLLISION to a joint's outer objects list
+ //
+ // @param[in] joint Index of the joint
+ // @param[in] inner_object Index of the GeometryObject that will be an outer object
+ //
// inline void GeometryModel::addOutterObject (const JointIndex joint, const GeomIndex outer_object)
// {
// if (std::find(outerObjects[joint].begin(),
diff --git a/src/multibody/liegroup/vector-space.hpp b/src/multibody/liegroup/vector-space.hpp
index 72d6b87063885e6a8439f14060deb1871170a5cd..70488d5189287c73f30dd8ca479d46a697a4bbad 100644
--- a/src/multibody/liegroup/vector-space.hpp
+++ b/src/multibody/liegroup/vector-space.hpp
@@ -47,8 +47,7 @@ namespace se3
}
/// Constructor
- /// \param size size of the vector space: should be the equal to template
- /// argument for static sized vector-spaces.
+ /// \param other other VectorSpaceOperation from which to retrieve size
VectorSpaceOperation (const VectorSpaceOperation& other) : Base (), size_ (other.size_.value())
{
assert (size_.value() >= 0);
@@ -113,7 +112,7 @@ namespace se3
// template <class ConfigL_t, class ConfigR_t>
// static double squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
// const Eigen::MatrixBase<ConfigR_t> & q1)
-
+
template <class Config_t>
static void normalize_impl (const Eigen::MatrixBase<Config_t>& /*qout*/)
{}
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index b7eedbfed815e0ce92c7c5bf42dec5409e5a8c55..6b06bd26c21df5f5612810f77fc0d046319cfa79 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -60,19 +60,19 @@ namespace se3
/// \brief Number of operational frames.
int nframes;
- /// \brief Spatial inertias of the body <i> expressed in the supporting joint frame <i>.
+ /// \brief Spatial inertias of the body *i* expressed in the supporting joint frame *i*.
container::aligned_vector<Inertia> inertias;
- /// \brief Placement (SE3) of the input of joint <i> regarding to the parent joint output <li>.
+ /// \brief Placement (SE3) of the input of joint *i* regarding to the parent joint output *li*.
container::aligned_vector<SE3> jointPlacements;
- /// \brief Model of joint <i>, encapsulated in a JointModelAccessor.
+ /// \brief Model of joint *i*, encapsulated in a JointModelAccessor.
JointModelVector joints;
- /// \brief Joint parent of joint <i>, denoted <li> (li==parents[i]).
+ /// \brief Joint parent of joint *i*, denoted *li* (li==parents[i]).
std::vector<JointIndex> parents;
- /// \brief Name of joint <i>
+ /// \brief Name of joint *i*
std::vector<std::string> names;
/// \brief Vector of joint's neutral configurations
@@ -98,8 +98,8 @@ namespace se3
container::aligned_vector<Frame> frames;
/// \brief Vector of subtrees.
- /// subtree[j] corresponds to the subtree supported by the joint j.
- /// The first element of subtree[j] is the index of the joint j itself.
+ /// subtree[j] corresponds to the subtree supported by the joint *j*.
+ /// The first element of subtree[j] is the index of the joint *j* itself.
std::vector<IndexVector> subtrees;
/// \brief Spatial gravity of the model.
@@ -260,7 +260,7 @@ namespace se3
/// \warning If no joint 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 joint)
- /// \param[in] index Index of the joint.
+ /// \param[in] name Name of the joint.
///
/// \return Index of the joint.
///
@@ -397,7 +397,7 @@ namespace se3
/// and expressed in the local frame of the joint..
container::aligned_vector<Inertia> Ycrb;
- /// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}$\f. See Data::Ycrb for more details.
+ /// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}\f$. See Data::Ycrb for more details.
container::aligned_vector<Inertia::Matrix6> dYcrb; // TODO: change with dense symmetric matrix6
/// \brief The joint space inertia matrix (a square matrix of dim model.nv).
@@ -420,7 +420,7 @@ namespace se3
// dCCRBA return quantities
/// \brief Centroidal Momentum Matrix Time Variation
- /// \note \f$ \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}f$ maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.
+ /// \note \f$ \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}\f$ maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.
Matrix6x dAg;
/// \brief Centroidal momentum quantity.
@@ -493,7 +493,7 @@ namespace se3
/// \brief Inverse of the operational-space inertia matrix
Eigen::MatrixXd JMinvJt;
- /// \brief Cholesky decompostion of \JMinvJt.
+ /// \brief Cholesky decompostion of \f$\JMinvJt\f$.
Eigen::LLT<Eigen::MatrixXd> llt_JMinvJt;
/// \brief Lagrange Multipliers corresponding to the contact forces in se3::forwardDynamics.
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index c70d3ee58f839505d205af7ae74693f7f131ee64..d416362838f9aa97257a7020c138dd22c23ed496 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -27,8 +27,8 @@
/** \addtogroup Force_group Force
*
* This module represents a spatial force, e.g. a spatial impulse or force associated to a body.
- * The spatial force is the mathematical representation of \f$ se^{*}(3) \f$, the dual of \f$ se(3) \f$.
- *
+ * The spatial force is the mathematical representation of \f$ se^{*}(3) \f$, the dual of \f$ se(3) \f$.
+ *
*
*/
@@ -38,9 +38,9 @@ namespace se3
/**
* @brief Base interface for forces representation.
- * @details The Class implements all
+ * @details The Class implements all
* \ingroup Force_group
- *
+ *
* @tparam Derived { description }
*/
template< class Derived>
@@ -50,7 +50,7 @@ namespace se3
typedef Derived Derived_t;
SPATIAL_TYPEDEF_TEMPLATE(Derived_t);
-
+
public:
Derived_t & derived() { return *static_cast<Derived_t*>(this); }
const Derived_t& derived() const { return *static_cast<const Derived_t*>(this); }
@@ -69,7 +69,7 @@ namespace se3
* @return The 3D vector associated to the linear part of the 6D force vector
*/
ConstLinear_t linear() const { return derived().linear_impl(); }
-
+
/// \copydoc ForceBase::angular
Angular_t angular() { return derived().angular_impl(); }
@@ -94,22 +94,22 @@ namespace se3
/**
* @brief Return the force
*
- * @return The 6D vector \f$ \phi \f$ such that
+ * @return The 6D vector \f$ \phi \f$ such that
* \f{equation*}
- * \leftidx{^A}\phi = \begin{bmatrix} \leftidx{^A}f \\ \leftidx{^A}\tau \end{bmatrix}
+ * {}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix}
* \f}
*/
const Vector6 & toVector() const { return derived().toVector_impl(); }
/// \copydoc ForceBase::toVector
Vector6 & toVector() { return derived().toVector_impl(); }
-
+
/*
* @brief C-style cast operator
* \copydoc ForceBase::toVector
*/
operator Vector6 () const { return toVector(); }
-
+
// void disp(std::ostream & os) const
// {
// static_cast<const Derived_t*>(this)->disp_impl(os);
@@ -121,28 +121,28 @@ namespace se3
* fuzzy comparison such as isApprox()
*/
bool operator== (const Derived_t & other) const {return derived().isEqual(other);}
-
+
/** \returns true if at least one coefficient of \c *this and \a other does not match.
*/
bool operator!=(const Derived_t & other) const { return !(*this == other); }
-
+
/** \returns true if *this is approximately equal to other, within the precision given by prec.
*/
bool isApprox(const Derived & other, const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
{ return derived().isApprox_impl(other, prec); }
-
+
/** \brief Copies the Derived Force into *this
* \return a reference to *this
*/
Derived_t & operator= (const Derived_t & other) { return derived().__equl__(other); }
- /**
+ /**
* \brief Replaces *this by *this + other.
* \return a reference to *this
*/
Derived_t & operator+= (const Derived_t & phi) { return derived().__pequ__(phi); }
-
- /**
+
+ /**
* \brief Replaces *this by *this - other.
* \return a reference to *this
*/
@@ -163,7 +163,7 @@ namespace se3
/** \return an expression of the difference of *this and phi
*/
Derived_t operator-(const Derived_t & phi) const { return derived().__minus__(phi); }
-
+
/** \return the dot product of *this with m *
*/
Scalar dot(const Motion & m) const { return static_cast<Derived_t*>(this)->dot(m); }
@@ -172,11 +172,11 @@ namespace se3
/**
* @brief Transform from A to B coordinates the Force represented by *this such that
* \f{equation*}
- * \leftidx{^B}f = \leftidx{^B}X_A^* * \leftidx{^A}f
+ * {}^{B}f = {}^{B}X_A^* * {}^{A}f
* \f}
- *
- * @param[in] m The rigid transformation \f$ \leftidx{^B}m_A \f$ whose coordinates transform for forces is
- * \leftidx{^B}X_A^*
+ *
+ * @param[in] m The rigid transformation \f$ {}^{B}m_A \f$ whose coordinates transform for forces is
+ * {}^{B}X_A^*
*
* @return an expression of the force expressed in the new coordinates
*/
@@ -185,11 +185,11 @@ namespace se3
/**
* @brief Transform from B to A coordinates the Force represented by *this such that
* \f{equation*}
- * \leftidx{^A}f = \leftidx{^A}X_B^* * \leftidx{^A}f
+ * {}^{A}f = {}^{A}X_B^* * {}^{A}f
* \f}
- *
- * @param[in] m The rigid transformation \f$ \leftidx{^B}m_A \f$ whose coordinates transform for forces is
- * \leftidx{^B}X_A^*
+ *
+ * @param[in] m The rigid transformation \f$ {}^{B}m_A \f$ whose coordinates transform for forces is
+ * {}^{B}X_A^*
*
* @return an expression of the force expressed in the new coordinates
*/
@@ -197,7 +197,7 @@ namespace se3
void disp(std::ostream & os) const { derived().disp_impl(os); }
friend std::ostream & operator << (std::ostream & os, const ForceBase<Derived_t> & X)
- {
+ {
X.disp(os);
return os;
}
@@ -301,7 +301,7 @@ namespace se3
return ForceTpl(m.rotation().transpose()*linear_impl(),
m.rotation().transpose()*(angular_impl() - m.translation().cross(linear_impl())) );
}
-
+
bool isEqual (const ForceTpl & other) const { return data == other.data; }
// Arithmetic operators
@@ -328,7 +328,7 @@ namespace se3
ForceTpl __mult__(const double a) const { return ForceTpl(a*data); }
ForceTpl __minus__() const { return ForceTpl(-data); }
ForceTpl __minus__(const ForceTpl & phi) const { return ForceTpl(data - phi.data); }
-
+
bool isApprox_impl(const ForceTpl & other, const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
{ return data.isApprox(other.data, prec); }
@@ -344,7 +344,7 @@ namespace se3
Linear_t linear_impl() { return data.template segment<3> (LINEAR);}
/// \internal \copydoc ForceBase::linear(const Vector3 &)
void linear_impl(const Vector3 & f) { data.template segment<3> (LINEAR) = f; }
-
+
Scalar dot(const Motion & m) const { return data.dot(m.toVector()); }
protected: