diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h index 46500c6e225e5f2f07928c2656d950a1462749ad..e9134b5593e30d93aa514f49eecb597759b0cf18 100644 --- a/include/core/problem/problem.h +++ b/include/core/problem/problem.h @@ -366,7 +366,10 @@ class Problem : public std::enable_shared_from_this<Problem> // All branches ------------------------------------------- - // perturb states + /** + * \brief perturb all states states with random noise + * following an uniform distribution in [ -amplitude, amplitude ] + */ void perturb(double amplitude = 0.01); // transform states void transform(const VectorComposite& _transformation); diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h index 40ddcebbe520cc05e3fcb18dd47683f2cd10d25b..f11047c17b751f327ec6c01177194170b0d39f4d 100644 --- a/include/core/state_block/has_state_blocks.h +++ b/include/core/state_block/has_state_blocks.h @@ -97,7 +97,10 @@ class HasStateBlocks unsigned int getSize(const StateStructure& _structure="") const; unsigned int getLocalSize(const StateStructure& _structure="") const; - // Perturb state + /** + * \brief perturb all states states with random noise + * following an uniform distribution in [ -amplitude, amplitude ] + */ void perturb(double amplitude = 0.01); protected: diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h index 2dbab85a741ddbe489f5e369c1a7cf2d5df12d9e..aa78dff969a29e4f5d3d583643c6e46a32980430 100644 --- a/include/core/state_block/state_block.h +++ b/include/core/state_block/state_block.h @@ -176,7 +176,9 @@ public: virtual Eigen::VectorXd identity() const; Eigen::VectorXd zero() const; - /** \brief perturb state + /** + * \brief perturb all states states with random noise + * following an uniform distribution in [ -amplitude, amplitude ] */ void perturb(double amplitude = 0.1); diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h index 3a2e72aa39e3a4ade898355452295b02673b0713..8f1d6de1f98c9afa906640f29d4a065188c7a04f 100644 --- a/include/core/state_block/state_composite.h +++ b/include/core/state_block/state_composite.h @@ -314,7 +314,10 @@ class StateBlockComposite // Plus operator void plus(const VectorComposite& _dx); - // Perturb state with random noise + /** + * \brief perturb all states states with random noise + * following an uniform distribution in [ -amplitude, amplitude ] + */ void perturb(double amplitude = 0.01); // These act on all state blocks. Per-block action must be done through state_block.fix() or through extended API in derived classes of this.