From feee2c4f9634d25e87f7fc73b2fe6f0a272193d0 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 4 Jul 2016 20:07:15 +0200
Subject: [PATCH] trajectory doc
---
etc/doxygen/images/tut-img-traj-1.svg | 252 ++++++++++++++++++++
source/RobotAPI/libraries/core/Trajectory.h | 5 +-
2 files changed, 255 insertions(+), 2 deletions(-)
create mode 100644 etc/doxygen/images/tut-img-traj-1.svg
diff --git a/etc/doxygen/images/tut-img-traj-1.svg b/etc/doxygen/images/tut-img-traj-1.svg
new file mode 100644
index 000000000..3f40f9282
--- /dev/null
+++ b/etc/doxygen/images/tut-img-traj-1.svg
@@ -0,0 +1,252 @@
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diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index e2e9523ff..835d04d42 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -66,9 +66,10 @@ namespace armarx
*
* The class interpolates all missing values with linear interpolation and calculates derivations.
* This means trajectories with different timestamps can easily be used.
- * Velocities or accelerations can easily be queried with the *derviation* parameters of many functions.
+ * Velocities or accelerations can easily be queried with the *derivation* parameters of many functions.
* Access complexity for a query with a timestamp is like from an unordered_map.
*
+ * \image html tut-img-traj-1.svg "Internal structure of the Trajectory class"
*
* Basic usage:
* @snippet RobotAPI/libraries/core/test/TrajectoryTest.cpp TrajectoryDocumentation BasicUsage
@@ -266,7 +267,7 @@ namespace armarx
size_t size() const;
/**
- * @brief Different between biggest and smallest timestamp. If size() <=1 -> return 0.
+ * @brief Difference between biggest and smallest timestamp. If size() <=1 -> return 0.
*/
double getTimeLength() const;
--
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