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Fix trajectory execution manager comments for docs builds #2563

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merged 2 commits into from Dec 1, 2023
Merged

Fix trajectory execution manager comments for docs builds #2563

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dc383f0
Fix trajectory execution manager comments for docs builds
sea-bass Dec 1, 2023
e160adc
Grammar fixes
sea-bass Dec 1, 2023
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10 changes: 5 additions & 5 deletions ...it_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp
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Expand Up @@ -64,7 +64,7 @@ void initTrajectoryExecutionManager(py::module& m)
R"(
Make sure the active controllers are such that trajectories that actuate joints in the specified group can be executed.

If manage_controllers_ is false and the controllers that happen to be active do not cover the joints in the group to be actuated, this function fails.
If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not cover the joints in the group to be actuated, this function fails.
)")

.def("ensure_active_controllers_for_joints",
Expand All @@ -73,23 +73,23 @@ void initTrajectoryExecutionManager(py::module& m)
R"(
Make sure the active controllers are such that trajectories that actuate joints in the specified set can be executed.

If manage_controllers_ is false and the controllers that happen to be active do not cover the joints to be actuated, this function fails.
If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not cover the joints to be actuated, this function fails.
)")

.def("ensure_active_controller",
&trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveController, py::arg("controller"),
R"(
Make sure a particular controller is active.

If manage_controllers_ is false and the controllers that happen to be active to not include the one specified as argument, this function fails.
If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not include the one specified as argument, this function fails.
)")

.def("ensure_active_controllers",
&trajectory_execution_manager::TrajectoryExecutionManager::ensureActiveControllers, py::arg("controllers"),
R"(
Make sure a particular set of controllers are active.

If manage_controllers_ is false and the controllers that happen to be active to not include the ones specified as argument, this function fails.
If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not include the ones specified as argument, this function fails.
)")

.def("is_controller_active", &trajectory_execution_manager::TrajectoryExecutionManager::isControllerActive,
Expand All @@ -101,7 +101,7 @@ void initTrajectoryExecutionManager(py::module& m)
.def("are_controllers_active", &trajectory_execution_manager::TrajectoryExecutionManager::areControllersActive,
py::arg("controllers"),
R"(
Check if a set of controllers are active
Check if a set of controllers is active.
)")

.def("push",
Expand Down
20 changes: 10 additions & 10 deletions ...cution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
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Expand Up @@ -105,30 +105,30 @@ class MOVEIT_TRAJECTORY_EXECUTION_MANAGER_EXPORT TrajectoryExecutionManager

/** \brief Make sure the active controllers are such that trajectories that actuate joints in the specified group can
be executed.
\note If manage_controllers_ is false and the controllers that happen to be active do not cover the joints in the
group to be actuated, this function fails. */
\note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not
cover the joints in the group to be actuated, this function fails. */
bool ensureActiveControllersForGroup(const std::string& group);

/** \brief Make sure the active controllers are such that trajectories that actuate joints in the specified set can be
executed.
\note If manage_controllers_ is false and the controllers that happen to be active do not cover the joints to be
actuated, this function fails. */
\note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not
cover the joints to be actuated, this function fails. */
bool ensureActiveControllersForJoints(const std::vector<std::string>& joints);

/** \brief Make sure a particular controller is active.
\note If manage_controllers_ is false and the controllers that happen to be active to not include the one
specified as argument, this function fails. */
\note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not
include the one specified as argument, this function fails. */
bool ensureActiveController(const std::string& controller);

/** \brief Make sure a particular set of controllers are active.
\note If manage_controllers_ is false and the controllers that happen to be active to not include the ones
specified as argument, this function fails. */
\note If the 'moveit_manage_controllers' parameter is false and the controllers that happen to be active do not
include the ones specified as argument, this function fails. */
bool ensureActiveControllers(const std::vector<std::string>& controllers);

/** \brief Check if a controller is active */
/** \brief Check if a controller is active. */
bool isControllerActive(const std::string& controller);

/** \brief Check if a set of controllers are active */
/** \brief Check if a set of controllers is active. */
bool areControllersActive(const std::vector<std::string>& controllers);

/// Add a trajectory for future execution. Optionally specify a controller to use for the trajectory. If no controller
Expand Down