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Commit 9478d9dd authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Documentation

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......@@ -291,7 +291,7 @@ EXTENSION_MAPPING =
# case of backward compatibilities issues.
# The default value is: YES.
MARKDOWN_SUPPORT = NO
MARKDOWN_SUPPORT = YES
# When enabled doxygen tries to link words that correspond to documented
# classes, or namespaces to their corresponding documentation. Such a link can
......
......@@ -38,7 +38,6 @@ namespace wolf {
* delta_R = fromSensorFrame(delta_S) : this transforms delta_S from frame S to frame R.
* - The two operations are performed by the pure virtual method data2delta(). A possible implementation
* of data2delta() could be (we use the data member delta_ as the return value):
*
* \code
* void data2delta(const VectorXs _data)
* {
......@@ -47,22 +46,25 @@ namespace wolf {
* delta_ = delta_R;
* }
* \endcode
*
* where format() is any code you need to format the data into a delta form,
* and fromSensorFrame() is explained below.
*
* Only when the motion delta is expressed in the robot frame R, we can integrate it
* on top of the current Robot frame: R <-- R (+) delta_R
*
* <code> xPlusDelta(R_old, delta_R, R_new) </code>
* \code xPlusDelta(R_old, delta_R, R_new) \endcode
*
*
* Defining (or not) fromSensorFrame():
*
* In most cases, one will be interested in avoiding the fromSensorFrame() issue.
* ### Defining (or not) the fromSensorFrame():
*
* In most cases, one will be interested in avoiding the \b fromSensorFrame() issue.
* This can be trivially done by defining the Robot frame precisely at the Sensor frame,
* so that S is the identity. In this case, fromSensorFrame() does nothing and delta_R = delta_S.
* This class does not declare any prototype for fromSensorFrame().
* In cases where this identification is not possible, or not desired,
* so that S is the identity. In this case, \b fromSensorFrame() does nothing and delta_R = delta_S.
*
* Notes:
* - This class does not declare any prototype for \b fromSensorFrame().
* - In cases where this identification is not possible, or not desired,
* classes deriving from this class will have to implement fromSensorFrame(),
* and call it within data2delta(), or write the frame transformation code directly in data2delta().
*/
......
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