Added doxygen fixes from svn commit 3590 to KDL

src/Mod/Robot/App/kdl_cp/articulatedbodyinertia.cpp

@@ -41,7 +41,7 @@ namespace KDL{
         *this = RigidBodyInertia(m,c,Ic);
     }
 
-  ArticulatedBodyInertia::ArticulatedBodyInertia(const Matrix3d& M, const Matrix3d& H, const Matrix3d& I)
+  ArticulatedBodyInertia::ArticulatedBodyInertia(const Eigen::Matrix3d& M, const Eigen::Matrix3d& H, const Eigen::Matrix3d& I)
     {
         this->M=M;
         this->I=I;

src/Mod/Robot/App/kdl_cp/chainfksolver.hpp

@@ -48,6 +48,7 @@ namespace KDL {
          *
          * @param q_in input joint coordinates
          * @param p_out reference to output cartesian pose
+         * @param segmentNr default to -1
          *
          * @return if < 0 something went wrong
          */
@@ -69,6 +70,7 @@ namespace KDL {
          *
          * @param q_in input joint coordinates (position and velocity)
          * @param out output cartesian coordinates (position and velocity)
+         * @param segmentNr default to -1
          *
          * @return if < 0 something went wrong
          */
@@ -92,8 +94,9 @@ namespace KDL {
          *
          * @param q_in input joint coordinates (position, velocity and
          * acceleration
-         @param out output cartesian coordinates (position, velocity
+         * @param out output cartesian coordinates (position, velocity
          * and acceleration
+         * @param segmentNr default to -1
          *
          * @return if < 0 something went wrong
          */

src/Mod/Robot/App/kdl_cp/chainidsolver.hpp

@@ -41,14 +41,15 @@ namespace KDL
 	{
 		public:
 			/** 
-			 * Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces
+			 * Calculate inverse dynamics, from joint positions, 
+             * velocity, acceleration, external forces
 			 * to joint torques/forces.
 			 * 
 			 * @param q input joint positions
 			 * @param q_dot input joint velocities
 			 * @param q_dotdot input joint accelerations
-			 *
-			 * @param torque output joint torques
+			 * @param f_ext external forces
+			 * @param torques output joint torques
 			 * 
 			 * @return if < 0 something went wrong
 			 */

src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.hpp

@@ -29,10 +29,6 @@ namespace KDL
          *
          * @param chain the chain to calculate the inverse velocity
          * kinematics for
-         * @param eps if a singular value is below this value, its
-         * inverse is set to zero, default: 0.00001
-         * @param maxiter maximum iterations for the svd calculation,
-         * default: 150
          *
          */
         explicit ChainIkSolverVel_pinv_givens(const Chain& chain);

src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.cpp

@@ -54,11 +54,11 @@ namespace KDL
     {
     }
 
-    void ChainIkSolverVel_wdls::setWeightJS(const MatrixXd& Mq){
+    void ChainIkSolverVel_wdls::setWeightJS(const Eigen::MatrixXd& Mq){
         weight_js = Mq;
     }
 
-    void ChainIkSolverVel_wdls::setWeightTS(const MatrixXd& Mx){
+    void ChainIkSolverVel_wdls::setWeightTS(const Eigen::MatrixXd& Mx){
         weight_ts = Mx;
     }
 

src/Mod/Robot/App/kdl_cp/chainiksolvervel_wdls.hpp

@@ -108,8 +108,9 @@ namespace KDL
         /**
          * Set the joint space weighting matrix
          *
-         * @param weight_js joint space weighting symetric matrix,
-         * default : identity.  M_q : This matrix being used as a
+         * weight_js joint space weighting symetric matrix,
+         * default : identity. 
+         * @param Mq : This matrix being used as a
          * weight for the norm of the joint space speed it HAS TO BE
          * symmetric and positive definite. We can actually deal with
          * matrices containing a symmetric and positive definite block
@@ -132,8 +133,9 @@ namespace KDL
         /**
          * Set the task space weighting matrix
          *
-         * @param weight_ts task space weighting symetric matrix,
-         * default: identity M_x : This matrix being used as a weight
+         * weight_ts task space weighting symetric matrix,
+         * default: identity 
+         * @param Mx : This matrix being used as a weight
          * for the norm of the error (in terms of task space speed) it
          * HAS TO BE symmetric and positive definite. We can actually
          * deal with matrices containing a symmetric and positive

src/Mod/Robot/App/kdl_cp/frameacc.hpp

@@ -260,14 +260,14 @@ class TwistAcc
 
 
 
-
+}
 
 
 #ifdef KDL_INLINE
 #include "frameacc.inl"
 #endif
 
-}
+
 
 
 

src/Mod/Robot/App/kdl_cp/frameacc.inl

@@ -17,7 +17,7 @@
  ****************************************************************************/
 
 
-
+namespace KDL {
 
 /////////////////// VectorAcc /////////////////////////////////////
 
@@ -596,3 +596,4 @@ bool Equal(const TwistAcc& a,const Twist& b,double eps) {
                 Equal(a.vel,b.vel,eps)  );
 }
 
+}

src/Mod/Robot/App/kdl_cp/frames.hpp

@@ -639,9 +639,9 @@ class Frame {
      //! @return the identity transformation Frame(Rotation::Identity(),Vector::Zero()).
      inline static Frame Identity();
 
-     //! The twist <t_this> is expressed wrt the current
+     //! The twist \<t_this\> is expressed wrt the current
      //! frame.  This frame is integrated into an updated frame with
-     //! <samplefrequency>.  Very simple first order integration rule.
+     //! \<samplefrequency\>.  Very simple first order integration rule.
      inline void Integrate(const Twist& t_this,double frequency);
 
     /*
@@ -1249,6 +1249,8 @@ IMETHOD Twist addDelta(const Twist& a,const Twist&da,double dt=1);
  */
 IMETHOD Wrench addDelta(const Wrench& a,const Wrench&da,double dt=1);
 
+} // namespace KDL
+
 #ifdef KDL_INLINE
 //    #include "vector.inl"
 //   #include "wrench.inl"
@@ -1263,7 +1265,4 @@ IMETHOD Wrench addDelta(const Wrench& a,const Wrench&da,double dt=1);
 
 
 
-}
-
-
 #endif

src/Mod/Robot/App/kdl_cp/frames.inl

@@ -31,7 +31,7 @@
  *
  */
 
-
+namespace KDL {
 
 IMETHOD Vector::Vector(const Vector & arg)
 {
@@ -1334,3 +1334,4 @@ IMETHOD bool operator!=(const Vector2& a,const Vector2& b) {
     return !operator==(a,b);
 }
 
+} // namespace KDL

src/Mod/Robot/App/kdl_cp/framevel.hpp

@@ -52,7 +52,7 @@ IMETHOD void posrandom(doubleVel& F) {
 	posrandom(F.grad);
 }
 
-}
+} //namespace KDL
 
 template <>
 struct Traits<KDL::doubleVel> {
@@ -383,12 +383,12 @@ IMETHOD void posrandom(FrameVel& F) {
 	posrandom(F.p);
 }
 
+} // namespace KDL
+
 #ifdef KDL_INLINE
 #include "framevel.inl"
 #endif
 
-} // namespace
-
 #endif
 
 

src/Mod/Robot/App/kdl_cp/framevel.inl

@@ -16,6 +16,7 @@
  *      $Name:  $ 
  ****************************************************************************/
 
+namespace KDL {
 
 // Methods and operators related to FrameVelVel
 // They all delegate most of the work to RotationVelVel and VectorVelVel
@@ -532,3 +533,5 @@ Twist TwistVel::GetTwist() const {
 Twist TwistVel::GetTwistDot() const {
     return Twist(vel.v,rot.v);
 }
+
+} // namespace KDL

src/Mod/Robot/App/kdl_cp/jntarray.hpp

@@ -139,6 +139,18 @@ class MyTask : public RTT::TaskContext
         friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest);
         friend void Multiply(const JntArray& src,const double& factor,JntArray& dest);
         friend void Divide(const JntArray& src,const double& factor,JntArray& dest);
+        /**
+        * Function to multiply a KDL::Jacobian with a KDL::JntArray
+        * to get a KDL::Twist, it should not be used to calculate the
+        * forward velocity kinematics, the solver classes are built
+        * for this purpose.
+        * J*q = t
+        *
+        * @param jac J
+        * @param src q
+        * @param dest t
+        * @post dest == (KDL::Twist::)Zero() if 0 == src.rows() (ie src is empty)
+        */
         friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest);
         friend void SetToZero(JntArray& array);
         friend bool Equal(const JntArray& src1,const JntArray& src2,double eps);

src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.hpp

@@ -63,7 +63,7 @@ class MyTask : public RTT::TaskContext
    ** use j here
    }
 };
-/endcode
+\endcode
 
      */
 
@@ -199,19 +199,19 @@ class MyTask : public RTT::TaskContext
      * for this purpose.
      * J*q = t
      *
-     * @param jac J
-     * @param src q
-     * @param dest t
+     * @param src J: Inertia Matrix (6x6)
+     * @param vec q: Jacobian (6x1)
+     * @param dest t: Twist (6x1)
      * @post dest==Twist::Zero() if 0==src.rows() (ie src is empty)
      */
     void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);
 
     /**
      * Function to set all the values of the array to 0
      *
-     * @param array
+     * @param mat
      */
-    void SetToZero(JntSpaceInertiaMatrix& matrix);
+    void SetToZero(JntSpaceInertiaMatrix& mat);
 
     /**
      * Function to check if two matrices are the same with a

src/Mod/Robot/App/kdl_cp/joint.hpp

@@ -80,31 +80,33 @@ namespace KDL {
          * Constructor of a joint.
          *
          * @param name of the joint
-         * @param origin the origin of the joint
-         * @param axis the axis of the joint
-         * @param scale scale between joint input and actual geometric
+         * @param _origin the origin of the joint
+         * @param _axis the axis of the joint
+         * @param type type of the joint
+         * @param _scale scale between joint input and actual geometric
          * movement, default: 1
-         * @param offset offset between joint input and actual
+         * @param _offset offset between joint input and actual
          * geometric input, default: 0
-         * @param inertia 1D inertia along the joint axis, default: 0
-         * @param damping 1D damping along the joint axis, default: 0
-         * @param stiffness 1D stiffness along the joint axis,
+         * @param _inertia 1D inertia along the joint axis, default: 0
+         * @param _damping 1D damping along the joint axis, default: 0
+         * @param _stiffness 1D stiffness along the joint axis,
          * default: 0
          */
         Joint(const std::string& name, const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,
 	      const double& _inertia=0, const double& _damping=0, const double& _stiffness=0);
         /**
          * Constructor of a joint.
          *
-         * @param origin the origin of the joint
-         * @param axis the axis of the joint
-         * @param scale scale between joint input and actual geometric
+         * @param _origin the origin of the joint
+         * @param _axis the axis of the joint
+         * @param type type of the joint
+         * @param _scale scale between joint input and actual geometric
          * movement, default: 1
-         * @param offset offset between joint input and actual
+         * @param _offset offset between joint input and actual
          * geometric input, default: 0
-         * @param inertia 1D inertia along the joint axis, default: 0
-         * @param damping 1D damping along the joint axis, default: 0
-         * @param stiffness 1D stiffness along the joint axis,
+         * @param _inertia 1D inertia along the joint axis, default: 0
+         * @param _damping 1D damping along the joint axis, default: 0
+         * @param _stiffness 1D stiffness along the joint axis,
          * default: 0
          */
         Joint(const Vector& _origin, const Vector& _axis, const JointType& type, const double& _scale=1, const double& _offset=0,

src/Mod/Robot/App/kdl_cp/kdl.hpp

@@ -21,7 +21,8 @@
 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
 /**
- * \mainpage KDL
+ * \defgroup KDL Kinematics and Dynamics Library
+ * \ingroup ROBOT
  *
  * This is the API reference of the
  * <a href="http://www.orocos.org/kdl">Kinematics and Dynamics
@@ -32,7 +33,6 @@
  * - \subpage geomprim
  * - \ref KinematicFamily : functionality to build kinematic chains and access their kinematic and dynamic properties, such as e.g. Forward and Inverse kinematics and dynamics.
  * - \ref Motion : functionality to specify motion trajectories of frames and kinematic chains, such as e.g. Trapezoidal Velocity profiles.
- * - \ref KDLTK : the interface code to integrate KDL into the Orocos <a href="http://www.orocos.org/rtt/">Real-Time Toolkit</a> (RTT).
  *
  *
 **/
@@ -125,5 +125,7 @@
  *      Typically we use the standard S.I. units:  N, m, sec. 
  *
  */
+
+/* This code doesn't seems to be integrated with freecad - \ref KDLTK : the interface code to integrate KDL into the Orocos <a href="http://www.orocos.org/rtt/">Real-Time Toolkit</a> (RTT). */
 
 

src/Mod/Robot/App/kdl_cp/kinfam.hpp

@@ -21,6 +21,7 @@
 
 /**
  * @defgroup KinematicFamily Kinematic Families
+ * \ingroup KDL
  * @brief All classes to support kinematic families.
  *
  * The Kinematic Families classes range from the basic building blocks

src/Mod/Robot/App/kdl_cp/motion.hpp

@@ -21,6 +21,7 @@
 
 /**
  * @defgroup Motion Motion
+ * \ingroup KDL
  * @brief All classes related to the non-instantaneous motion of rigid
  * bodies and kinematic structures, e.g., path and trajecory definitions
  * and their building blocks.

src/Mod/Robot/App/kdl_cp/rotational_interpolation.hpp

@@ -105,7 +105,7 @@ class RotationalInterpolation
 		static RotationalInterpolation* Read(std::istream& is);
 
 		/**
-		 * virtual constructor,  construction by copying ..
+		 * virtual constructor,  construction by copying.
 		 */
 		virtual RotationalInterpolation* Clone() const = 0;
 

src/Mod/Robot/App/kdl_cp/segment.hpp

@@ -60,7 +60,7 @@ namespace KDL {
          * Joint(Joint::None)
          * @param f_tip frame from the end of the joint to the tip of
          * the segment, default: Frame::Identity()
-         * @param M rigid body inertia of the segment, default: Inertia::Zero()
+         * @param I rigid body inertia of the segment, default: Inertia::Zero()
          */
         explicit Segment(const std::string& name, const Joint& joint=Joint(Joint::None), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
         /**
@@ -70,7 +70,7 @@ namespace KDL {
          * Joint(Joint::None)
          * @param f_tip frame from the end of the joint to the tip of
          * the segment, default: Frame::Identity()
-         * @param M rigid body inertia of the segment, default: Inertia::Zero()
+         * @param I rigid body inertia of the segment, default: Inertia::Zero()
          */
         explicit Segment(const Joint& joint=Joint(Joint::None), const Frame& f_tip=Frame::Identity(),const RigidBodyInertia& I = RigidBodyInertia::Zero());
         Segment(const Segment& in);