[Doc] Rework doc for buildGeom

src/multibody/parser/urdf-with-geometry.hpp

@@ -68,20 +68,18 @@ namespace se3
      *             in the directories specified by the user first and then in
      *             the environment variable ROS_PACKAGE_PATH
      *
-     * @param      model         The model of the robot, built with
+     * @param[in]  model         The model of the robot, built with
      *                           urdf::buildModel
      * @param[in]  filename      The URDF complete (absolute) file path
      * @param[in]  package_dirs  A vector containing the different directories
-     *                           where to search for packages
-     * @param[in]  root_joint    If we added a root joint to the Model in
-     *                           addition to the urdf kinematic chain
+     *                           where to search for models and meshes.
+     *
+     * @return     The GeometryModel associated to the urdf file and the given Model.
      *
-     * @return     The GeometryModel associated to the urdf file and the Model
-     *             given
      */
     inline GeometryModel buildGeom(const Model & model,
-                                  const std::string & filename,
-                                  const std::vector<std::string> & package_dirs = std::vector<std::string>());
+                                   const std::string & filename,
+                                   const std::vector<std::string> & package_dirs = std::vector<std::string> ()) throw (std::invalid_argument);
 
   } // namespace urdf
   

src/multibody/parser/urdf-with-geometry.hxx

@@ -133,7 +133,7 @@ namespace se3
 
     inline GeometryModel buildGeom(const Model & model,
                                    const std::string & filename,
-                                   const std::vector<std::string> & package_dirs)
+                                   const std::vector<std::string> & package_dirs) throw(std::invalid_argument)
     {
       GeometryModel model_geom(model);