Commit c7688745 by Florent Lamiraux Committed by GitHub

### 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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