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 -- GitLab