Update documentation

Author: florent-lamiraux

CMakeLists.txt

@@ -50,6 +50,7 @@ ENDIF()
 ADD_REQUIRED_DEPENDENCY("hpp-model")
 ADD_REQUIRED_DEPENDENCY("hpp-gik")
 ADD_REQUIRED_DEPENDENCY("hpp-util")
+ADD_DOC_DEPENDENCY("abstract-gik-task")
 
 # Add dependency toward hpp-constrained library in pkg-config file.
 PKG_CONFIG_APPEND_LIBS("hpp-constrained")

README.md

@@ -1,3 +1,12 @@
-                                                                -*- outline -*-
+This package aims at dealing with systems subject to smooth non-linear
+equality constraints.
 
-* FIXME
+The main class hpp::constrained::ConfigProjector numerically projects an input
+configuration onto the sub-manifold of the configuration space defined by a
+set of non-linear constraints of type CjrlGikStateConstraint.
+
+Two other classes derive from this latter:
+  - hpp::constrained::ConfigExtendor extends a configuration toward another
+    configuration by remaining on the constrained submanifold.
+  - hpp::constrained::GoalConfigGenerator randomly samples the configuration
+    space and projects each sample onto the submanifold defined by a goal task.

doc/Doxyfile.extra.in

@@ -1 +1,5 @@
-INPUT                  = @CMAKE_SOURCE_DIR@/include
+INPUT                  = @CMAKE_SOURCE_DIR@/include \
+		       @CMAKE_SOURCE_DIR@/doc
+
+TAGS		       = @HPP_MODEL_DOXYGENDOCDIR@/hpp-model.doxytag=@HPP_MODEL_DOXYGENDOCDIR@ \
+		       @ABSTRACT_GIK_TASK_DOXYGENDOCDIR@/abstract-gik-task.doxytag=@ABSTRACT_GIK_TASK_DOXYGENDOCDIR@

doc/mainpage.hh

@@ -0,0 +1,11 @@
+///\mainpage
+/// This package aims at dealing with systems subject to smooth non-linear
+/// equality constraints.
+///
+/// The main class hpp::constrained::ConfigProjector numerically projects an input
+/// configuration onto the sub-manifold of the configuration space defined by a
+/// set of non-linear constraints of type CjrlGikStateConstraint.
+///
+/// Two other classes derive from this latter:
+///   \li hpp::constrained::ConfigExtendor extends a configuration toward another configuration by remaining on the constrained submanifold.
+///   \li hpp::constrained::GoalConfigGenerator randomly samples the configuration space and projects each sample onto the submanifold defined by a goal task.

src/config-optimizer.cc

@@ -58,7 +58,8 @@ namespace hpp {
       goalConfig_(i_goalConfig)
     {
       step_ = 0.01; //Default value
-      distance_ = CkwsDistance::create();
+      //distance_ = CkwsDistance::create();
+      distance_ = CkwsDistanceShPtr();
       nbRandCfgs_ = 20; //Default value
       progressThreshold_ = 1e-5;
       maxOptimizationSteps_ = 20;

src/kws-constraint.cc

@@ -59,7 +59,7 @@ namespace hpp {
 
     KwsConstraint::KwsConstraint(const std::string & i_name,
 				 ConfigProjector * i_projector):
-      CkwsConstraint(i_name,i_projector->getRobot()),
+      CkwsConstraint(i_projector->getRobot()->configSpace (), i_name),
       projector_(i_projector)
     {
     }