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improve documentation of the helper methods
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saikishor committed Dec 15, 2024
1 parent 08f09eb commit 296f992
Showing 1 changed file with 4 additions and 4 deletions.
8 changes: 4 additions & 4 deletions joint_limits/include/joint_limits/joint_limits_helpers.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ bool is_limited(double value, double min, double max);
* @param act_vel The actual velocity of the joint.
* @param prev_command_pos The previous commanded position of the joint.
* @param dt The time step.
* @return The position limits.
* @return The position limits, first is the lower limit and second is the upper limit.
*/
std::pair<double, double> compute_position_limits(
const joint_limits::JointLimits & limits, const std::optional<double> & act_vel,
Expand All @@ -57,7 +57,7 @@ std::pair<double, double> compute_position_limits(
* @param act_pos The actual position of the joint.
* @param prev_command_vel The previous commanded velocity of the joint.
* @param dt The time step.
* @return The velocity limits.
* @return The velocity limits, first is the lower limit and second is the upper limit.
*/
std::pair<double, double> compute_velocity_limits(
const std::string & joint_name, const joint_limits::JointLimits & limits,
Expand All @@ -70,7 +70,7 @@ std::pair<double, double> compute_velocity_limits(
* @param act_pos The actual position of the joint.
* @param act_vel The actual velocity of the joint.
* @param dt The time step.
* @return The effort limits.
* @return The effort limits, first is the lower limit and second is the upper limit.
*/
std::pair<double, double> compute_effort_limits(
const joint_limits::JointLimits & limits, const std::optional<double> & act_pos,
Expand All @@ -82,7 +82,7 @@ std::pair<double, double> compute_effort_limits(
* @param limits The joint limits.
* @param desired_acceleration The desired acceleration.
* @param actual_velocity The actual velocity of the joint.
* @return The acceleration limits.
* @return The acceleration limits, first is the lower limit and second is the upper limit.
*/
std::pair<double, double> compute_acceleration_limits(
const JointLimits & limits, double desired_acceleration, std::optional<double> actual_velocity);
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