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docs: add proper description
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lvjonok committed Sep 9, 2024
1 parent 546b68e commit 6054499
Showing 1 changed file with 23 additions and 1 deletion.
24 changes: 23 additions & 1 deletion include/pinocchio/algorithm/regressor.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -380,7 +380,29 @@ namespace pinocchio
DataTpl<Scalar, Options, JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q);

// TODO: Add documentation
///
/// \brief Computes the momentum regressor and component of time derivative
/// of momentum regressor of the system based on the current robot state.
///
/// The result stored in `data.momentumRegressor` corresponds to a matrix \f$ Y_p \f$ such that
/// \f$ P = Y_p(q, v) \pi = M v \f$ where \f$ \pi \f$ represents the vector of dynamic parameters
/// of each link.
///
/// The result stored in `data.dpartial_lagrangian_q` corresponds to a matrix
/// \f$ Y_h \f$ such that \f$ \frac{\partial L}{\partial q} = Y_h(q, v) \f$.
///
/// \tparam JointCollection Collection of Joint types.
/// \tparam ConfigVectorType Type of the joint configuration vector.
///
/// \param[in] model The model structure representing the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration vector (dim model.nq).
/// \param[in] v The joint velocity vector (dim model.nv).
///
/// \return A pair containing:
/// - The momentum regressor matrix.
/// - A matrix containing a component of the time derivative of the momentum regressor.
///
template<
typename Scalar,
int Options,
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