From d712069552a87e0f81be0f635e2663688c1efa28 Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Fri, 29 Oct 2010 18:30:54 +0900
Subject: [PATCH] More documentation.
---
doc/additionalDoc/package.h | 17 ++++++++++++++++-
1 file changed, 16 insertions(+), 1 deletion(-)
diff --git a/doc/additionalDoc/package.h b/doc/additionalDoc/package.h
index 5624f66..113d938 100644
--- a/doc/additionalDoc/package.h
+++ b/doc/additionalDoc/package.h
@@ -151,7 +151,7 @@ from one entity to another. There are three main types of signals,
all deriving from the common class dynamicgraph::SignalBase :
\li dynamicgraph::Signal : a "normal" signal, passing data around \bby \bvalue
\li dynamicgraph::SignalPtr : a signal used for efficient passing of large data, by reference (or rather, C pointers)*
-\li dynamicgraph::SignalTimeDependent : a signal that enforces a time dependence between other signals,
+\li dynamicgraph::SignalTimeDependent : a signal that enforces a time dependency between other signals,
making sure its inputs are up to date, using a incrementing time tick as reference.
\n* Note: this may cause a problem if this package is used in a multithreaded program.
@@ -161,6 +161,21 @@ Signals can be grouped together using dynamicgraph::SignalArray.
Signals implement a caching mechanism by storing the last computation time tick.
Signals can be plugged ("plug" script command) into one another or set through shell commands.
+\section samp Samples
+
+\li The following code ensures the jacobian uses a
+\code
+ //! \brief This signal returns the Jacobian of the current value
+ // according to the robot state: \f$ J(t) = \frac{\delta{\bf s}^*(t)}{\delta {\bf q}(t)}\f$
+ dg::SignalTimeDependent<ml::Matrix,int> jacobianSOUT;
+
+ (...)
+
+ jacobianSOUT.addDependency( positionSIN );
+ jacobianSOUT.addDependency( articularJacobianSIN );
+
+\endcode
+
@}
\namespace dynamicgraph This is the namespace where every object and class of this library is located.
--
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