From f30c9f3e9482c3ebe1f271f2fc69ee8a11ae2b8d Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Mon, 1 Sep 2014 14:18:03 +0900 Subject: [PATCH] add class documentation --- irteus/irtmodel.l | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/irteus/irtmodel.l b/irteus/irtmodel.l index 56aae9d1a..b33fcf2b8 100644 --- a/irteus/irtmodel.l +++ b/irteus/irtmodel.l @@ -32,7 +32,8 @@ :slots (parent-link child-link joint-angle min-angle max-angle default-coords joint-velocity joint-acceleration joint-torque max-joint-velocity max-joint-torque - joint-min-max-table joint-min-max-target)) + joint-min-max-table joint-min-max-target) + :documentation "abstract class of joint, users need to use rotational-joint, linear-joint, sphere-joint, 6dof-joint, wheel-joint or omniwheel-joint." ) (defmethod joint (:init (&key (name (intern (format nil "joint~A" (sys::address self)) "KEYWORD")) @@ -43,8 +44,7 @@ ((:joint-min-max-table mm-table)) ((:joint-min-max-target mm-target)) &allow-other-keys) - "abstract class of joint, users need to use rotational-joint, linear-joint, sphere-joint, 6dof-joint, wheel-joint or omniwheel-joint. - use :parent-link/:child-link for specifying links that this joint connect to and :min/:min for range of joint angle in degree." + "use :parent-link/:child-link for specifying links that this joint connect to and :min/:min for range of joint angle in degree." (send self :name name) (setq parent-link plink child-link clink min-angle min max-angle max)