Unverified Commit c7688745 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by GitHub
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Merge pull request #151 from Toefinder/fix-docs

Fix documentation indentation for constraints
parents 241853f6 1d67bd9b
......@@ -72,7 +72,8 @@ namespace hpp {
& \mbox {if and only if}\\
\mathbf{q}_{out} &= g \left(\mathbf{q}_{in}\right) + rhs \\
\f}
If function \f$f\f$ takes values in a Lie group (SO(2), SO(3)),
If function \f$f\f$ takes values in a Lie group (SO(2), SO(3)),
the above "+" between a Lie group element and a tangent vector
has to be undestood as the integration of the constant velocity from
the Lie group element:
......
......@@ -48,7 +48,7 @@ namespace hpp {
/**
This class represents a parameterizable numerical constraint that
compares the output of a function \f$h\f$ to a right hand side Lie
group element.
group element.
\par Definition
......@@ -58,7 +58,7 @@ namespace hpp {
respectively \f$(n_q,n_v)\f$.
\li The comparison is represented by a vector \f$\mathbf{c}\f$ of
dimension \f$n_v\f$ with values in
enum hpp::contraints::ComparisonType = {
enum hpp::constraints::ComparisonType = {
\f$\mathbf{Equality}\f$, \f$\mathbf{EqualToZero}\f$,
\f$\mathbf{Inferior}\f$, \f$\mathbf{Superior}\f$ }.
\li The right hand side is Lie group element of dimension \f$n_q\f$.
......@@ -83,23 +83,24 @@ namespace hpp {
\f$e_i = \Delta_i\f$,
\li if \f$c_i\f$ is \f$\mathbf{EqualToZero}\f$, \f$e_i = \Delta_i\f$.
\par Mask
\par Mask
A mask is a vector of Boolean values of size \f$n_v\f$. Values set to
false means that the corresponding component of the error defined above
is not taken into account to determine whether the constraint is
satisfied. The active rows of the constraint may be accessed via
method activeRows.
A mask is a vector of Boolean values of size \f$n_v\f$. Values set to
false means that the corresponding component of the error defined above
is not taken into account to determine whether the constraint is
satisfied. The active rows of the constraint may be accessed via
method activeRows.
\par Parameterizable right hand side
Lines with \textbf{Equality} comparator in the above definition of the
error need a parameter, while lines with comparators \textbf{Inferior},
\textbf{Superior}, or \textbf{EqualToZero} do not.
As a consequence, the right hand side of the constraint is defined by
a vector \f$\lambda\f$ of parameters of size the number of
\textbf{Equality} occurences in vector \f$\mathbf{c}\f$. The right hand
side is then defined as in the following example:
Lines with \f$\mathbf{Equality}\f$ comparator in the above definition
of the error need a parameter, while lines with comparators
\f$\mathbf{Inferior}\f$, \f$\mathbf{Superior}\f$, or
\f$\mathbf{EqualToZero}\f$ do not. As a consequence, the right hand
side of the constraint is defined by a vector \f$\lambda\f$
of parameters of size the number of \f$\mathbf{Equality}\f$ occurences
in vector \f$\mathbf{c}\f$. The right hand side is then defined as in
the following example:
\f[
rhs = \exp\left(\begin{array}{c}\lambda_1 \\ 0 \\ 0 \\ \lambda_2 \\
\vdots \end{array}\right)
......
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