Commit f47a3641 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

dintegratetransport: minor modifs in doc

parent 9ef4677a
......@@ -287,7 +287,7 @@ namespace pinocchio
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg,
const AssignmentOperatorType op);
/**
*
* @brief Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the tangent space at identity.
......
......@@ -163,7 +163,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* We are moving our input matrix onto this manifold M.
* @param[in] q configuration vector.
* @param[in] v tangent vector
* @param[in] J the input matrix
* @param[in] Jin the input matrix
* @param[in] arg ARG0 (resp. ARG1) to get the Jacobian with respect to q (resp. v).
*
* @param[out] Jout Transported matrix
......@@ -184,7 +184,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* We are moving our input matrix onto this manifold M.
* @param[in] q configuration vector.
* @param[in] v tangent vector
* @param[in] J the input matrix
* @param[in] Jin the input matrix
*
* @param[out] Jout Transported matrix
*/
......@@ -201,7 +201,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* We are moving our input matrix onto this manifold M.
* @param[in] q configuration vector.
* @param[in] v tangent vector
* @param[in] J the input matrix
* @param[in] Jin the input matrix
*
* @param[out] Jout Transported matrix
*/
......
......@@ -87,7 +87,6 @@ namespace pinocchio {
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),
op);
}
template <class Derived>
template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
......
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