General improvement of the documentation in ContinuousDynamicalSystem…

… class

src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/DynamicalSystem.h

@@ -25,6 +25,37 @@ namespace ContinuousDynamicalSystem
  * inherit publicly from this class in order to define your custom dynamical system.
  * Just be sure to call after your class definition
  * #BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE()
+ * For instance
+ * \code{.cpp}
+ * namespace BipedalLocomotion
+ * {
+ * namespace ContinuousDynamicalSystem
+ * {
+ * // forward declaration
+ * class Foo;
+ * }
+ * }
+ * // Here we define the internal structure of the Foo. Notice that the number of types contained in
+ * // the FooStateType must be equal to the number of FooStateDerivetiveType (This is required by the integrator class)
+ *
+ * using FooStateType = Eigen::Vector2d;
+ * using FooStateDerivativeType = Eigen::Vector2d;
+ * using FooInputType = Eigen::Vector2d;
+ * BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(Foo, (FooStateType),
+ *                                                               (FooStateDerivativeType),
+ *                                                               (FooInputType))
+ * namespace BipedalLocomotion
+ * {
+ * namespace ContinuousDynamicalSystem
+ * {
+ * // class definition
+ * class Foo : public DynamicalSystem<Foo>
+ * {
+ *    ...
+ * }
+ * }
+ * }
+ * \endcode
  */
 template <class _Derived> class DynamicalSystem
 {

src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FixedBaseDynamics.h

@@ -31,6 +31,12 @@ class FixedBaseDynamics;
 } // namespace BipedalLocomotion
 
 
+// Please read it as
+// BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(
+//     FixedBaseDynamics,
+//     (joint velocities, joint positions),
+//     (joint accelerations, joints velocities),
+//     (joint torques)
 BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(FixedBaseDynamics,
                                                          (Eigen::VectorXd, Eigen::VectorXd),
                                                          (Eigen::VectorXd, Eigen::VectorXd),

src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseDynamicsWithCompliantContacts.h

@@ -28,6 +28,13 @@ class FloatingBaseDynamicsWithCompliantContacts;
 }
 }
 
+// Please read it as
+// BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(
+//     FloatingBaseDynamicsWithCompliantContacts
+//     (base velocity expressed in mixed, joint velocities, base position, base orientation, joint positions),
+//     (base acceleration expressed in mixed, joint acceleration, base linear velocity, rate of change of the base rotation matrix, joint velocities),
+//     (joint torques, list containing the compliant contact models)
+
 BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(FloatingBaseDynamicsWithCompliantContacts,
                                                          (Eigen::Matrix<double, 6, 1>,
                                                           Eigen::VectorXd,

src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemKinematics.h

@@ -26,6 +26,12 @@ class FloatingBaseSystemKinematics;
 }
 }
 
+// Please read it as
+// BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(
+//     FloatingBaseSystemKinematics,
+//     (base position, base orientation, joint positions),
+//     (base linear velocity, rate of change of base rotation matrix, joint velocities),
+//     (base twist expressed in mixed representation, joint velocities))
 BLF_DEFINE_CONTINUOUS_DYNAMICAL_SYSTEM_INTERAL_STRUCTURE(
     FloatingBaseSystemKinematics,
     (Eigen::Vector3d, Eigen::Matrix3d, Eigen::VectorXd),
@@ -41,12 +47,12 @@ namespace ContinuousDynamicalSystem
  * FloatingBaseSystemKinematics describes a floating base system kinematics.
  * The FloatingBaseSystemKinematics inherits from a generic DynamicalSystem where:
  * - DynamicalSystem::State is described by an std::tuple containing:
- *   - Eigen::Vector6d: position of the base w.r.t. the inertial frame
+ *   - Eigen::Vector3d: position of the base w.r.t. the inertial frame
  *   - Eigen::Matrix3d: rotation matrix \f${} ^ I R _ {b}\f$. Matrix that transform a vector
  * whose coordinates are expressed in the base frame in the inertial frame;
  *   - Eigen::VectorXd: the joint positions [in rad].
  * - DynamicalSystem::StateDerivative is described by an std::tuple containing:
- *   - Eigen::Vector6d: base velocity w.r.t. the inertial frame;
+ *   - Eigen::Vector3d: base linear velocity w.r.t. the inertial frame;
  *   - Eigen::Matrix3d: rate of change of the rotation matrix \f${} ^ I \dot{R} _ {b}\f$.
  * whose coordinates are expressed in the base frame in the inertial frame;
  *   - Eigen::VectorXd: the joint velocities [in rad/s].