From 6470cdb76750640220dbd1e4867f843ee545f7d5 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 17 Mar 2023 17:18:46 +0100
Subject: [PATCH] Fix minor issues in doc comments
---
GraspPlanning/ApproachMovementSurfaceNormal.h | 4 ++--
GraspPlanning/GraspPlanner/GenericGraspPlanner.h | 3 ++-
GraspPlanning/GraspPlanner/GraspPlanner.h | 1 +
MotionPlanning/Planner/BiRrt.h | 1 +
MotionPlanning/Planner/Rrt.h | 1 +
VirtualRobot/MathTools.h | 4 ++--
VirtualRobot/Workspace/NaturalPosture.h | 3 ++-
VirtualRobot/Workspace/WorkspaceGrid.h | 2 +-
VirtualRobot/Workspace/WorkspaceRepresentation.h | 3 ++-
9 files changed, 14 insertions(+), 8 deletions(-)
diff --git a/GraspPlanning/ApproachMovementSurfaceNormal.h b/GraspPlanning/ApproachMovementSurfaceNormal.h
index bc976fdf7..17dc6279f 100644
--- a/GraspPlanning/ApproachMovementSurfaceNormal.h
+++ b/GraspPlanning/ApproachMovementSurfaceNormal.h
@@ -55,10 +55,10 @@ namespace GraspStudio
* \param object The object.
* \param eef The end effector.
* \param graspPreshape An optional preshape that can be used in order to "open" the eef.
- * \param maxRandDist
+ * \param maxRetreatDist
* If >0, the resulting apporach pose is randomly moved in the approach direction
* (away from the object) in order to create different distances to the object.
- * \param usefaceAreaDistribution
+ * \param useFaceAreaDistribution
* If true, the probability of a face being selected is proportional to its area.
* If false, all faces are selected with equal probability.
*/
diff --git a/GraspPlanning/GraspPlanner/GenericGraspPlanner.h b/GraspPlanning/GraspPlanner/GenericGraspPlanner.h
index 0903780fe..7be6aa603 100644
--- a/GraspPlanning/GraspPlanner/GenericGraspPlanner.h
+++ b/GraspPlanning/GraspPlanner/GenericGraspPlanner.h
@@ -62,7 +62,8 @@ namespace GraspStudio
/*!
Creates new grasps.
\param nrGrasps The number of grasps to be planned.
- \param timeOutMS The time out in milliseconds. Planning is stopped when this time is exceeded. Disabled when zero.
+ \param timeOutDuration The time out in milliseconds. Planning is stopped when this time is exceeded. Disabled when zero.
+ \param obstacles
\return Number of generated grasps.
*/
int plan(int nrGrasps, int timeOutDuration = 0, VirtualRobot::SceneObjectSetPtr obstacles = {}) override;
diff --git a/GraspPlanning/GraspPlanner/GraspPlanner.h b/GraspPlanning/GraspPlanner/GraspPlanner.h
index b38cc4652..5b7feb702 100644
--- a/GraspPlanning/GraspPlanner/GraspPlanner.h
+++ b/GraspPlanning/GraspPlanner/GraspPlanner.h
@@ -56,6 +56,7 @@ namespace GraspStudio
Creates new grasps.
\param nrGrasps The number of grasps to be planned.
\param timeOutMS The time out in milliseconds. Planning is stopped when this time is exceeded. Disabled when zero.
+ \param obstacles
\return Number of planned grasps.
*/
virtual int plan(int nrGrasps, int timeOutMS = 0, VirtualRobot::SceneObjectSetPtr obstacles = {}) = 0;
diff --git a/MotionPlanning/Planner/BiRrt.h b/MotionPlanning/Planner/BiRrt.h
index bbaaea682..5d8468819 100644
--- a/MotionPlanning/Planner/BiRrt.h
+++ b/MotionPlanning/Planner/BiRrt.h
@@ -46,6 +46,7 @@ namespace Saba
\param cspace An initialized cspace object.
\param modeA Specify the RRT method that should be used to build the first tree
\param modeB Specify the RRT method that should be used to build the second tree
+ \param samplingSize
*/
BiRrt(CSpacePtr cspace, RrtMethod modeA = eConnect, RrtMethod modeB = eConnect, float samplingSize = -1);
~BiRrt() override;
diff --git a/MotionPlanning/Planner/Rrt.h b/MotionPlanning/Planner/Rrt.h
index 953e1e340..94aae148b 100644
--- a/MotionPlanning/Planner/Rrt.h
+++ b/MotionPlanning/Planner/Rrt.h
@@ -68,6 +68,7 @@ namespace Saba
\param cspace A cspace, defining the used joints (the dimension/DoF) and the collision detection setup.
\param mode Specify the RRT method that should be used
\param probabilityExtendToGoal Specify how often the goal node should be used instead of a random config (value must be between 0 and 1)
+ \param samplingSize
*/
Rrt(CSpacePtr cspace, RrtMethod mode = eConnect, float probabilityExtendToGoal = 0.1f, float samplingSize = -1);
~Rrt() override;
diff --git a/VirtualRobot/MathTools.h b/VirtualRobot/MathTools.h
index 746244410..4297106c3 100644
--- a/VirtualRobot/MathTools.h
+++ b/VirtualRobot/MathTools.h
@@ -650,8 +650,8 @@ namespace VirtualRobot
double VIRTUAL_ROBOT_IMPORT_EXPORT getDamping(const Eigen::MatrixXf &matrix);
/*! @brief Calculates the damped least square inverse by J^T * (JJ^T + k^2 I)^{-1}
- * @jacobian Jacobian J
- * @squaredDampingFactor Damping factor k^2
+ * @param jacobian Jacobian J
+ * @param squaredDampingFactor Damping factor k^2
*/
template <typename T>
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> VIRTUAL_ROBOT_IMPORT_EXPORT getDampedLeastSquareInverse(const Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> &jacobian, double squaredDampingFactor = 0.01f) {
diff --git a/VirtualRobot/Workspace/NaturalPosture.h b/VirtualRobot/Workspace/NaturalPosture.h
index ca1e335cf..69af00341 100644
--- a/VirtualRobot/Workspace/NaturalPosture.h
+++ b/VirtualRobot/Workspace/NaturalPosture.h
@@ -31,7 +31,8 @@ namespace VirtualRobot
{
- class VIRTUAL_ROBOT_IMPORT_EXPORT NaturalPosture : public WorkspaceRepresentation, public std::enable_shared_from_this<NaturalPosture>
+ class VIRTUAL_ROBOT_IMPORT_EXPORT NaturalPosture :
+ public WorkspaceRepresentation, public std::enable_shared_from_this<NaturalPosture>
{
public:
friend class CoinVisualizationFactory;
diff --git a/VirtualRobot/Workspace/WorkspaceGrid.h b/VirtualRobot/Workspace/WorkspaceGrid.h
index 0b55c2661..1d22d9aae 100644
--- a/VirtualRobot/Workspace/WorkspaceGrid.h
+++ b/VirtualRobot/Workspace/WorkspaceGrid.h
@@ -34,7 +34,7 @@ namespace VirtualRobot
* A 2D grid which represents a quality distribution (e.g. the reachability) at 2D positions w.r.t. one or multiple grasp(s).
* Internally the inverse workspace data (@see WorkspaceRepresentation), which encodes the
* transformation between robot's base and grasping position, is used.
- * This data is useful to quickly sample positions from where the probability that a grasp is reachable is high (see \func getRandomPos).
+ * This data is useful to quickly sample positions from where the probability that a grasp is reachable is high (see getRandomPos()).
*/
class VIRTUAL_ROBOT_IMPORT_EXPORT WorkspaceGrid
{
diff --git a/VirtualRobot/Workspace/WorkspaceRepresentation.h b/VirtualRobot/Workspace/WorkspaceRepresentation.h
index 666aee275..de58e9808 100644
--- a/VirtualRobot/Workspace/WorkspaceRepresentation.h
+++ b/VirtualRobot/Workspace/WorkspaceRepresentation.h
@@ -273,7 +273,7 @@ namespace VirtualRobot
/*!
Estimate a parameter setup for the given RNS by randomly set configurations and check for achieved workspace extends. The results are slightly scaled.
- \param ndoeSet
+ \param nodeSet
\param steps How many loops should be performed to estimate the result. Chose a value >= 1000.
\param storeMinBounds Workspace extend from min
\param storeMaxBounds Workspace extend to max
@@ -321,6 +321,7 @@ namespace VirtualRobot
* \brief createCut Create a cut at a specific height (assuming z is upwards).
* \param heightPercent Value in [0,1]
* \param cellSize The discretization step size of the result
+ * \param sumAngles¸
* \return
*/
WorkspaceCut2DPtr createCut(float heightPercent, float cellSize, bool sumAngles) const;
--
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