From ff6cbceaa97353dbc73c5c41d839bfd2223fa0e6 Mon Sep 17 00:00:00 2001 From: Abhay D Date: Thu, 11 Apr 2024 17:50:19 -0700 Subject: [PATCH] Fix doxy comments --- src/kinematics/ForwardArmKinematics.h | 4 ++-- src/kinematics/InverseArmKinematics.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/kinematics/ForwardArmKinematics.h b/src/kinematics/ForwardArmKinematics.h index 51ca81a4..9bdd35ce 100644 --- 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 The EE position. + * @return navtypes::Vectord The EE position. */ virtual navtypes::Vectord jointPosToEEPos(const navtypes::Vectord& 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 The EE velocity. + * @return navtypes::Vectord The EE velocity. */ navtypes::Vectord jointVelToEEVel(const navtypes::Vectord& jointPos, const navtypes::Vectord& jointVel) const { diff --git a/src/kinematics/InverseArmKinematics.h b/src/kinematics/InverseArmKinematics.h index 1b9df74b..43538a76 100644 --- 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 The target joint angles that achieve the desired EE + * @return navtypes::Vectord The target joint angles that achieve the desired EE * position. */ virtual navtypes::Vectord eePosToJointPos(const navtypes::Vectord& 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 The target joint angles that achieve the desired EE + * @return navtypes::Vectord The target joint angles that achieve the desired EE * position. */ virtual navtypes::Vectord solve(const navtypes::Vectord& eePos,