Add documentation

moveit · Oct 6, 2024 · 5e14588 · 5e14588
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commit 5e14588
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Showing 2 changed files with 19 additions and 2 deletions.
diff --git a/include/moveit/drake/conversions.hpp b/include/moveit/drake/conversions.hpp
@@ -73,10 +73,26 @@ namespace moveit::drake
                                                      const std::string& group_name,
                                                      const ::drake::multibody::MultibodyPlant<double>& plant);
 
+/**
+ * @brief Copy velocity bounds from joint model group to Eigen vectors
+ *
+ * @param joint_model_group Joint model group to get velocity bounds from
+ * @param plant Drake MultiBody Plant, used to get model information
+ * @param lower_velocity_bounds Lower velocity bounds populated by this function
+ * @param upper_velocity_bounds Upper velocity bounds populated by this function
+ */
 void getVelocityBounds(const moveit::core::JointModelGroup* joint_model_group,
                        const ::drake::multibody::MultibodyPlant<double>& plant, Eigen::VectorXd& lower_velocity_bounds,
                        Eigen::VectorXd& upper_velocity_bounds);
 
+/**
+ * @brief Get the Acceleration Bounds object
+ *
+ * @param joint_model_group Joint model group to get acceleration bounds from
+ * @param plant Drake model plant, used to get model information
+ * @param lower_acceleration_bounds Lower acceleration bounds ppulated by this function
+ * @param upper_acceleration_bounds Upper acceleration bounds populated by this function
+ */
 void getAccelerationBounds(const moveit::core::JointModelGroup* joint_model_group,
                            const ::drake::multibody::MultibodyPlant<double>& plant,
                            Eigen::VectorXd& lower_acceleration_bounds, Eigen::VectorXd& upper_acceleration_bounds);
@@ -87,6 +103,7 @@ void getAccelerationBounds(const moveit::core::JointModelGroup* joint_model_grou
  *
  * @param robot_trajectory MoveIt trajectory to be translated
  * @param group Joint group for which a piecewise polynomial is created
+ * @param plant Drake Multibody Plant, used to get model information
  * @return ::drake::trajectories::PiecewisePolynomial<double>
  */
 [[nodiscard]] ::drake::trajectories::PiecewisePolynomial<double>
@@ -100,6 +117,7 @@ getPiecewisePolynomial(const ::robot_trajectory::RobotTrajectory& robot_trajecto
  *
  * @param drake_trajectory Drake trajectory
  * @param delta_t Time step size
+ * @param plant Drake Multibody Plant, used to get model information
  * @param moveit_trajectory MoveIt trajectory to be populated based on the piecewise polynomial
  */
 void getRobotTrajectory(const ::drake::trajectories::Trajectory<double>& drake_trajectory, const double delta_t,

diff --git a/src/add_toppra_time_parameterization.cpp b/src/add_toppra_time_parameterization.cpp
@@ -171,7 +171,6 @@ class AddToppraTimeParameterization : public planning_interface::PlanningRespons
     // Create drake::trajectories::Trajectory from moveit trajectory
     auto input_path = getPiecewisePolynomial(*res.trajectory, joint_model_group, plant);
 
-    input_path.end_time(input_path.end_time() * 2);
     // Run toppra
     const auto grid_points = Toppra::CalcGridPoints(input_path, CalcGridPointsOptions());
     auto toppra = Toppra(input_path, plant, grid_points);
@@ -235,7 +234,7 @@ class AddToppraTimeParameterization : public planning_interface::PlanningRespons
   std::unique_ptr<Diagram<double>> diagram_;
   std::unique_ptr<Context<double>> diagram_context_;
 
-  // Temporary visualization
+  // Optional visualization
   std::shared_ptr<Meshcat> meshcat_;
   MeshcatVisualizer<double>* visualizer_;
 };