Correct documentation.

include/sot/core/feature-point6d.hh

@@ -56,7 +56,7 @@ namespace dg = dynamicgraph;
 
 /*!
   \class FeaturePoint6d
-  \brief Class that defines point-3d control feature
+  \brief Class that defines point-6d control feature
 */
 class SOTFEATUREPOINT6D_EXPORT FeaturePoint6d
   : public FeatureAbstract, public FeatureReferenceHelper<FeaturePoint6d>

include/sot/core/feature-posture.hh

@@ -45,7 +45,8 @@ namespace dynamicgraph {
     using command::Command;
     using command::Value;
 
-    /* Feature that observes the posture of the robot, ie whose Jacobian is the
+    /*! @class dynamicgraph::sot::FeaturePosture feature-posture.hh
+     * Feature that observes the posture of the robot, ie whose Jacobian is the
      * identity, or slices of the identity. This feature can be exactly
      * obtained with a generic posture, given the identity matrix as the input
      * Jacobian, the identity matrix. It is even prefereable, as the reference

include/sot/core/sot-qr.hh

@@ -58,12 +58,11 @@ namespace ml = maal::boost;
 
 
 /*! @ingroup stackoftasks
+  \class dynamicgraph::sot::SotQr
   \brief This class implements the Stack of Task.
   It allows to deal with the priority of the controllers
   through the shell. The controllers can be either constraints
   either tasks.
-
-
 */
 
 namespace dynamicgraph { namespace sot {

include/sot/core/task.hh

@@ -58,11 +58,13 @@ namespace ml = maal::boost;
 /* --------------------------------------------------------------------- */
 /*!
   @ingroup tasks
-  This class defines the basic elements of a task.
+  @class dynamicgraph::sot::Task task.hh "Definition"
+  @brief Class that defines the basic elements of a task.
+
   A task is defined as \f$ {\bf s}  ={\bf e}({\bf q}) \f$
   where \f${\bf s} \f$ is a set of features and \f${\bf q}\f$ the
   actuated joints of the robot. <br>
-  It is assume that \f$ {\bf e} = - \lambda \dot{\bf e} \f$.
+  It is assumes that \f$ \dot{\bf e} = - \lambda {\bf e} \f$.
   Moreover as it assumed that this task can provide:
   \f$ {\bf J} = \frac{\delta f}{\delta {\bf q}} \f$
   It then possible to compute
@@ -75,8 +77,6 @@ namespace ml = maal::boost;
   This class makes also possible to select some of the
   listed of features to compute the control law through setControlSelection,
   addControlSelection, clearControlSelection.
-
-
  */
 
 namespace dynamicgraph { namespace sot {

include/sot/core/weighted-sot.hh

@@ -55,6 +55,7 @@ namespace ml = maal::boost;
 
 
 /*! @ingroup stackoftasks
+  \class dynamicgraph::sot::WeightedSot
   \brief This class implements the Stack of Task.
   It allows to deal with the priority of the controllers
   through the shell. The controllers can be either constraints