Fix doxy comments

huskyroboticsteam · Apr 12, 2024 · ff6cbce · ff6cbce
1 parent 12224ef
commit ff6cbce
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/kinematics/ForwardArmKinematics.h b/src/kinematics/ForwardArmKinematics.h
@@ -64,7 +64,7 @@ class ForwardArmKinematics {
 	 * @brief Given a joint position, calculate the current EE position.
 	 *
 	 * @param jointPos Current joint position.
-	 * @return Eigen::Vectord<D> The EE position.
+	 * @return navtypes::Vectord<D> The EE position.
 	 */
 	virtual navtypes::Vectord<D>
 	jointPosToEEPos(const navtypes::Vectord<N>& jointPos) const = 0;
@@ -74,7 +74,7 @@ class ForwardArmKinematics {
 	 *
 	 * @param jointPos Current joint position.
 	 * @param jointVel Current velocity of each joint angle.
-	 * @return Eigen::Vectord<D> The EE velocity.
+	 * @return navtypes::Vectord<D> The EE velocity.
 	 */
 	navtypes::Vectord<D> jointVelToEEVel(const navtypes::Vectord<N>& jointPos,
 										 const navtypes::Vectord<N>& jointVel) const {

diff --git a/src/kinematics/InverseArmKinematics.h b/src/kinematics/InverseArmKinematics.h
@@ -51,7 +51,7 @@ class InverseArmKinematics {
 	 * solver.
 	 * @param[out] success Output parameter that signals if the IK solver succeeded. Failure
 	 * may occur if the target is unreachable or the IK solver exceeds the iteration limit.
-	 * @return navtypes::Arrayd<N> The target joint angles that achieve the desired EE
+	 * @return navtypes::Vectord<N> The target joint angles that achieve the desired EE
 	 * position.
 	 */
 	virtual navtypes::Vectord<N> eePosToJointPos(const navtypes::Vectord<D>& eePos,
@@ -83,7 +83,7 @@ class InverseArmKinematics {
 	 * solver.
 	 * @param[out] success Output parameter that signals if the IK solver succeeded. Failure
 	 * may occur if the target is unreachable or the IK solver exceeds the iteration limit.
-	 * @return navtypes::Arrayd<N> The target joint angles that achieve the desired EE
+	 * @return navtypes::Vectord<N> The target joint angles that achieve the desired EE
 	 * position.
 	 */
 	virtual navtypes::Vectord<N> solve(const navtypes::Vectord<D>& eePos,