From 23f811d8087563ba99df57b7b1442d4d5cdddcdb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 13 Oct 2022 08:29:31 +0200
Subject: [PATCH] Document all perturb() instances
---
include/core/problem/problem.h | 5 ++++-
include/core/state_block/has_state_blocks.h | 5 ++++-
include/core/state_block/state_block.h | 4 +++-
include/core/state_block/state_composite.h | 5 ++++-
4 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 46500c6e2..e9134b559 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 40ddcebbe..f11047c17 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 2dbab85a7..aa78dff96 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 3a2e72aa3..8f1d6de1f 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.
--
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