diff --git a/include/curves/bernstein.h b/include/curves/bernstein.h
index 800ac3447c861899370eca24181d370e7ae03482..86eb3ab6932dbd82e91bfedc8a9c89ebf1de8d48 100644
--- a/include/curves/bernstein.h
+++ b/include/curves/bernstein.h
@@ -20,7 +20,6 @@
namespace curves
{
-///
/// \brief Computes factorial of a number.
///
inline unsigned int fact(const unsigned int n)
@@ -31,7 +30,6 @@ inline unsigned int fact(const unsigned int n)
return res;
}
-///
/// \brief Computes a binomal coefficient.
///
inline unsigned int bin(const unsigned int n, const unsigned int k)
@@ -62,8 +60,6 @@ Numeric i_;
Numeric bin_m_i_;
};
-
-///
/// \brief Computes all Bernstein polynomes for a certain degree.
///
template <typename Numeric>
diff --git a/include/curves/bezier_curve.h b/include/curves/bezier_curve.h
index d5d6bf124e435bf0d8d94ba10394793be2ffa11f..45f50d6c05b1b71507c27a924f5a4326a600d88d 100644
--- a/include/curves/bezier_curve.h
+++ b/include/curves/bezier_curve.h
@@ -93,7 +93,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \param PointsBegin : an iterator pointing to the first element of a control point container.
/// \param PointsEnd : an iterator pointing to the last element of a control point container.
/// \param T : upper bound of time which is between \f$[0;T]\f$ (default \f$[0;1]\f$).
- /// \param mult_T :
+ /// \param mult_T : ... (default value is 1.0).
///
template<typename In>
bezier_curve(In PointsBegin, In PointsEnd, const time_t T, const time_t mult_T)
@@ -180,7 +180,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// Computes the primitive at order N of bezier curve of parametric equation \f$x(t)\f$. At order \f$N=1\f$,
/// the primitve \f$X(t)\f$ of \f$x(t)\f$ is such as \f$\frac{dX(t)}{dt} = x(t)\f$.
/// \param order : order of the primitive.
- /// \return Primitive of x(t).
+ /// \return Primitive at order N of x(t).
bezier_curve_t compute_primitive(const std::size_t order) const
{
if(order == 0) return *this;
diff --git a/include/curves/bezier_polynom_conversion.h b/include/curves/bezier_polynom_conversion.h
index 47b83c6ea8726a622babae428a1b1904ca105cc5..d70523c551ad9075737cf5f7f0a95011b1ce5965 100644
--- a/include/curves/bezier_polynom_conversion.h
+++ b/include/curves/bezier_polynom_conversion.h
@@ -51,7 +51,7 @@ Polynom from_bezier(const Bezier& curve)
}
///\brief Converts a polynom to a Bezier curve.
-///\param polynom: the polynom to convert.
+///\param polynom : the polynom to convert.
///\return The equivalent Bezier curve.
/*template<typename Bezier, typename Polynom>
Bezier from_polynom(const Polynom& polynom)
diff --git a/include/curves/curve_abc.h b/include/curves/curve_abc.h
index 55d45a5dac0daabe2164b32c64eb011e37d72cc7..c0306e73f71f86eb4472a20a54365f0f1b02dad4 100644
--- a/include/curves/curve_abc.h
+++ b/include/curves/curve_abc.h
@@ -45,18 +45,20 @@ struct curve_abc : std::unary_function<Time, Point>
virtual point_t operator()(const time_t t) const = 0;
- /// \brief Evaluation of the derivative spline at time t.
- /// \param t : time when to evaluate the spline.
- /// \param order : order of the derivative.
- /// \return Point corresponding on curve at time t.
+ /// \brief Evaluation of the derivative spline at time t.
+ /// \param t : time when to evaluate the spline.
+ /// \param order : order of the derivative.
+ /// \return Point corresponding on curve at time t.
virtual point_t derivate(const time_t t, const std::size_t order) const = 0;
/*Operations*/
/*Helpers*/
public:
- /// \brief Returns the minimum time for wich curve is defined
+ /// \brief Returns the minimum time for wich curve is defined
+ /// \return Lower bound of time range.
virtual time_t min() const = 0;
- /// \brief Returns the maximum time for wich curve is defined
+ /// \brief Returns the maximum time for wich curve is defined
+ /// \return Upper bound of time range.
virtual time_t max() const = 0;
std::pair<time_t, time_t> timeRange() {return std::make_pair(min(), max());}
diff --git a/include/curves/curve_constraint.h b/include/curves/curve_constraint.h
index d3710c9fb40e396bce15fcc55989d7f2bb074623..eb88d1cd7026a9ea65aead04ddc442ecd932a911 100644
--- a/include/curves/curve_constraint.h
+++ b/include/curves/curve_constraint.h
@@ -26,11 +26,12 @@ struct curve_constraints
curve_constraints():
init_vel(point_t::Zero()),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){}
- ~curve_constraints(){}
- point_t init_vel;
- point_t init_acc;
- point_t end_vel;
- point_t end_acc;
+ ~curve_constraints(){}
+
+ point_t init_vel;
+ point_t init_acc;
+ point_t end_vel;
+ point_t end_acc;
};
} // namespace curves
#endif //_CLASS_CUBICZEROVELACC
diff --git a/include/curves/helpers/effector_spline.h b/include/curves/helpers/effector_spline.h
index 9d9cd4216a63b14c83515aa334203cabbbcb68de..6e26d6b85248c30b8a9ea79e87dcb6fd342243eb 100644
--- a/include/curves/helpers/effector_spline.h
+++ b/include/curves/helpers/effector_spline.h
@@ -38,20 +38,19 @@ typedef spline_deriv_constraint_t::exact_cubic_t exact_cubic_t;
typedef spline_deriv_constraint_t::t_spline_t t_spline_t;
typedef spline_deriv_constraint_t::spline_t spline_t;
+/// \brief Compute time such that the equation from source to offsetpoint is necessarily a line.
Waypoint compute_offset(const Waypoint& source, const Point& normal, const Numeric offset, const Time time_offset)
{
- //compute time such that the equation from source to offsetpoint is necessarily a line
Numeric norm = normal.norm();
assert(norm>0.);
return std::make_pair(source.first + time_offset,(source.second + normal / norm* offset));
}
-
+/// \brief Compute spline from land way point to end point.
+/// Constraints are null velocity and acceleration.
spline_t make_end_spline(const Point& normal, const Point& from, const Numeric offset,
const Time init_time, const Time time_offset)
{
- // compute spline from land way point to end point
- // constraints are null velocity and acceleration
Numeric norm = normal.norm();
assert(norm>0.);
Point n = normal / norm;
@@ -68,9 +67,9 @@ spline_t make_end_spline(const Point& normal, const Point& from, const Numeric o
return spline_t(points.begin(), points.end(), init_time, init_time+time_offset);
}
+/// \brief Compute end velocity : along landing normal and respecting time.
spline_constraints_t compute_required_offset_velocity_acceleration(const spline_t& end_spline, const Time /*time_offset*/)
{
- //computing end velocity: along landing normal and respecting time
spline_constraints_t constraints;
constraints.end_acc = end_spline.derivate(end_spline.min(),2);
constraints.end_vel = end_spline.derivate(end_spline.min(),1);
diff --git a/include/curves/helpers/effector_spline_rotation.h b/include/curves/helpers/effector_spline_rotation.h
index 9d7ff42239394273ba0bd11ffa70678f79db0c10..44fccfe1659d3ea72003b2dfabfeb82cc71e5893 100644
--- a/include/curves/helpers/effector_spline_rotation.h
+++ b/include/curves/helpers/effector_spline_rotation.h
@@ -80,9 +80,9 @@ class rotation_spline: public curve_abc_quat_t
throw std::runtime_error("TODO quaternion spline does not implement derivate");
}
+ /// \brief Initialize time reparametrization for spline.
spline_deriv_constraint_one_dim computeWayPoints() const
{
- // initializing time reparametrization for spline
t_waypoint_one_dim_t waypoints;
waypoints.push_back(std::make_pair(0,point_one_dim_t::Zero()));
waypoints.push_back(std::make_pair(1,point_one_dim_t::Ones()));