From 2c70794f0e9a9c1c5e0824a5217d1fb223054540 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 27 May 2020 12:42:46 +0200
Subject: [PATCH] Fix documentation of emplaceFrame()

---
 include/core/problem/problem.h | 26 ++++++++++++++++++--------
 1 file changed, 18 insertions(+), 8 deletions(-)

diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index b7ddae555..a3557b0e9 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -209,11 +209,11 @@ class Problem : public std::enable_shared_from_this<Problem>
                                           const double &_time_tol);
 
         /** \brief Emplace frame from string frame_structure
+         * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
+         * \param _time_stamp Time stamp of the frame
          * \param _frame_structure String indicating the frame structure.
          * \param _dim variable indicating the dimension of the problem
-         * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
          * \param _frame_state State vector; must match the size and format of the chosen frame structure
-         * \param _time_stamp Time stamp of the frame
          *
          * This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
          *   - Create a Frame
@@ -227,11 +227,10 @@ class Problem : public std::enable_shared_from_this<Problem>
                                   const Eigen::VectorXd& _frame_state);
 
         /** \brief Emplace frame from string frame_structure
-         * \param _frame_structure String indicating the frame structure.
-         * \param _dim variable indicating the dimension of the problem
          * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
-         * \param _frame_state State vector; must match the size and format of the chosen frame structure
          * \param _time_stamp Time stamp of the frame
+         * \param _frame_structure String indicating the frame structure.
+         * \param _frame_state State vector; must match the size and format of the chosen frame structure
          *
          * This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
          *   - Create a Frame
@@ -242,15 +241,26 @@ class Problem : public std::enable_shared_from_this<Problem>
                                   const TimeStamp& _time_stamp, //
                                   const StateStructure& _frame_structure, //
                                   const VectorComposite& _frame_state);
+
+        /** \brief Emplace frame from string frame_structure
+         * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
+         * \param _time_stamp Time stamp of the frame
+         * \param _frame_state State; must be part of the problem's frame structure
+         *
+         * This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
+         *   - Create a Frame
+         *   - Add it to Trajectory
+         *   - If it is key-frame, update state-block lists in Problem
+         */
         FrameBasePtr emplaceFrame(FrameType _frame_key_type, //
                                   const TimeStamp& _time_stamp, //
                                   const VectorComposite& _frame_state);
 
         /** \brief Emplace frame from string frame_structure without state
-         * \param _frame_structure String indicating the frame structure.
-         * \param _dim variable indicating the dimension of the problem
          * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
+         * \param _frame_structure String indicating the frame structure.
+         * \param _dim variable indicating the dimension of the problem
          *
          * This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
          *   - Create a Frame
@@ -264,8 +274,8 @@ class Problem : public std::enable_shared_from_this<Problem>
 
         /** \brief Emplace frame from string frame_structure without structure
          * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
-         * \param _frame_state State vector; must match the size and format of the chosen frame structure
          * \param _time_stamp Time stamp of the frame
+         * \param _frame_state State vector; must match the size and format of the chosen frame structure
          *
          * This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
          *   - Create a Frame
-- 
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