From 2affd95315831f00a9d7ae4c9d7fd0f7065c1d03 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 22 Feb 2018 15:52:57 +0100
Subject: [PATCH] Fix and update documentation.
---
doc/Doxyfile.extra.in | 4 +--
.../cross-state-optimization.hh | 26 +++++++++++++++++++
.../hpp/manipulation/steering-method/graph.hh | 6 ++---
.../cross-state-optimization/function.cc | 2 +-
4 files changed, 32 insertions(+), 6 deletions(-)
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 5d0ee65..f36a30b 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -1,7 +1,7 @@
INPUT = @CMAKE_SOURCE_DIR@/doc \
@CMAKE_SOURCE_DIR@/include \
- @CMAKE_BINARY_DIR@/doc \
- @CMAKE_BINARY_DIR@/src/steering-method/cross-state-optimization
+ @CMAKE_SOURCE_DIR@/src/steering-method/cross-state-optimization/function.cc \
+ @CMAKE_BINARY_DIR@/doc
HTML_EXTRA_FILES = @CMAKE_SOURCE_DIR@/doc/ObjectManipulation_MasterThesis_JosephMirabel.pdf
diff --git a/include/hpp/manipulation/steering-method/cross-state-optimization.hh b/include/hpp/manipulation/steering-method/cross-state-optimization.hh
index cf040c1..8b55550 100644
--- a/include/hpp/manipulation/steering-method/cross-state-optimization.hh
+++ b/include/hpp/manipulation/steering-method/cross-state-optimization.hh
@@ -28,6 +28,31 @@
namespace hpp {
namespace manipulation {
namespace steeringMethod {
+ /// \addtogroup steering_method
+ /// \{
+
+ /// Optimization-based steering method.
+ ///
+ /// #### Methodology
+ ///
+ /// Given two configuration \f$ (q_1,q_2) \f$, this class formulates and
+ /// solves the problem as follows.
+ /// - Compute the corresponding states \f$ (s_1, s_2) \f$.
+ /// - For a each path \f$ (e_0, ... e_n) \f$ between \f$ (s_1, s_2) \f$
+ /// in the constraint graph, do:
+ /// - define \f$ n-1 \f$ intermediate configuration \f$ p_i \f$,
+ /// - initialize the optimization problem, as explained below,
+ /// - solve the optimization problem, which gives \f$ p^*_i \f$,
+ /// - in case of failure, continue the loop.
+ /// - call the Edge::build of each \f$ e_j \f$ for each consecutive
+ /// \f$ (p^*_i, p^*_{i+1}) \f$.
+ ///
+ /// #### Problem formulation
+ /// Find \f$ (p_i) \f$ such that:
+ /// - \f$ p_0 = q_1 \f$,
+ /// - \f$ p_{n+1} = q_2 \f$,
+ /// - \f$ p_i \f$ is in state between \f$ (e_{i-1}, e_i) \f$, (\ref StateFunction)
+ /// - \f$ (p_i, p_{i+1}) \f$ are reachable with transition \f$ e_i \f$ (\ref EdgeFunction).
class HPP_MANIPULATION_DLLAPI CrossStateOptimization :
public SteeringMethod
{
@@ -81,6 +106,7 @@ namespace hpp {
/// Weak pointer to itself
CrossStateOptimizationWkPtr_t weak_;
}; // class CrossStateOptimization
+ /// \}
template <typename T>
CrossStateOptimizationPtr_t CrossStateOptimization::create
diff --git a/include/hpp/manipulation/steering-method/graph.hh b/include/hpp/manipulation/steering-method/graph.hh
index 5374e80..b3145b7 100644
--- a/include/hpp/manipulation/steering-method/graph.hh
+++ b/include/hpp/manipulation/steering-method/graph.hh
@@ -28,6 +28,8 @@
namespace hpp {
namespace manipulation {
+ /// \addtogroup steering_method
+ /// \{
class HPP_MANIPULATION_DLLAPI SteeringMethod : public core::SteeringMethod
{
public:
@@ -61,8 +63,6 @@ namespace hpp {
namespace steeringMethod {
using core::PathPtr_t;
- /// \addtogroup steering_method
- /// \{
class HPP_MANIPULATION_DLLAPI Graph : public SteeringMethod
{
@@ -119,8 +119,8 @@ namespace hpp {
gsm->innerSteeringMethod (T::create (problem));
return gsm;
}
- /// \}
} // namespace steeringMethod
+ /// \}
} // namespace manipulation
} // namespace hpp
diff --git a/src/steering-method/cross-state-optimization/function.cc b/src/steering-method/cross-state-optimization/function.cc
index 40ea940..3ba0c3d 100644
--- a/src/steering-method/cross-state-optimization/function.cc
+++ b/src/steering-method/cross-state-optimization/function.cc
@@ -31,7 +31,7 @@ namespace hpp {
}
}
- /// Apply the constraint on a subspace of the input space:
+ /// Apply the constraint on a subspace of the input space.
/// i.e.: \f$ f (q_0, ... , q_n) = f_{inner} (q_k) \f$
class HPP_MANIPULATION_LOCAL StateFunction :
public constraints::DifferentiableFunction
--
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