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Commit 0ea409f8 authored by Florent Lamiraux's avatar Florent Lamiraux
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Cosmetic: add documentation.

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include/hpp/fcl/narrowphase/gjk.h
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...@@ -51,6 +51,8 @@ namespace details ...@@ -51,6 +51,8 @@ namespace details
Vec3f getSupport(const ShapeBase* shape, const Vec3f& dir); Vec3f getSupport(const ShapeBase* shape, const Vec3f& dir);
/// @brief Minkowski difference class of two shapes /// @brief Minkowski difference class of two shapes
///
/// \note The Minkowski difference is expressed in the frame of the first shape.
struct MinkowskiDiff struct MinkowskiDiff
{ {
/// @brief points to two shapes /// @brief points to two shapes
...@@ -118,6 +120,8 @@ struct MinkowskiDiff ...@@ -118,6 +120,8 @@ struct MinkowskiDiff
/// @brief class for GJK algorithm /// @brief class for GJK algorithm
///
/// \note The computations are performed in the frame of the first shape.
struct GJK struct GJK
{ {
struct SimplexV struct SimplexV
......
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