From 9b9fd15b65fdce018715da5fb62891beac583f23 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 22 Feb 2018 15:27:37 +0100
Subject: [PATCH] Update doc.
---
doc/Doxyfile.extra.in | 3 ++-
src/steering-method/cross-state-optimization/function.cc | 6 ++++++
2 files changed, 8 insertions(+), 1 deletion(-)
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 7a322b67..5d0ee659 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -1,6 +1,7 @@
INPUT = @CMAKE_SOURCE_DIR@/doc \
@CMAKE_SOURCE_DIR@/include \
- @CMAKE_BINARY_DIR@/doc
+ @CMAKE_BINARY_DIR@/doc \
+ @CMAKE_BINARY_DIR@/src/steering-method/cross-state-optimization
HTML_EXTRA_FILES = @CMAKE_SOURCE_DIR@/doc/ObjectManipulation_MasterThesis_JosephMirabel.pdf
diff --git a/src/steering-method/cross-state-optimization/function.cc b/src/steering-method/cross-state-optimization/function.cc
index a536f0e1..40ea9406 100644
--- a/src/steering-method/cross-state-optimization/function.cc
+++ b/src/steering-method/cross-state-optimization/function.cc
@@ -31,6 +31,8 @@ namespace hpp {
}
}
+ /// 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
{
@@ -74,6 +76,8 @@ namespace hpp {
const segment_t sa_, sd_;
}; // class Function
+ /// \f$ q_{out} = q_{in} \f$
+ /// \todo Make this derive from constraints::AffineFunction
class HPP_MANIPULATION_LOCAL Identity :
public constraints::DifferentiableFunction
{
@@ -95,6 +99,8 @@ namespace hpp {
}
}; // class Function
+ /// Compute the difference between the value of the function in two points.
+ /// i.e.: \f$ f (q_0, ... , q_n) = f_{inner} (q_{left}) - f_{inner} (q_{right}) \f$
class HPP_MANIPULATION_LOCAL EdgeFunction :
public constraints::DifferentiableFunction
{
--
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