src/... | Docstrings have been improved

docs/src/kinematic.md

@@ -5,7 +5,7 @@ Within the kinematic model, the joint positions are primarily calculated, taking
 The selection of a suitable reference coordinate system is crucial for defining the initial position of key points. Such a coordinate system should easily integrate predefined lengths, widths, and distances and facilitate the calculation of positioning during rotational movements. A suitable point for this purpose is the intersection point of the rotational axes of the steering geometry. Figure illustrates this coordinate system, with the corresponding axes shown in black. Overall, the figure provides a functional representation of the adjustment capability of the steering geometry, with significant information highlighted through color visualization. For determining the initial position of the key reference points, only those vectors represented by a continuous line should be considered.
 
 
-![Figure 3.2: The functional representation of the setting option rotational component](https://github.com/una-auxme/micromobilitykinematics.jl/blob/main/docs/src/assets/rotational%20component.png?raw=true?raw=true)
+![Figure 3.2: The functional representation of the setting option rotational component](https://github.com/una-auxme/micromobilitykinematics.jl/blob/main/docs/src/assets/rotational%20component.png?raw=true?)
 
 
 The radius by which the rotational component can rotate around the x-axis lies in the rest position along the z-axis.

src/core/functions_on_instance.jl

@@ -4,10 +4,10 @@
 creates a copy of the steering instance
 
 # Arguments:
--`steering::Steering`: instance of a Steering
+- `steering::Steering`: instance of a Steering
 
 # Returns:
--`copy::Steering`: copy of the given instance 
+- `copy::Steering`: copy of the given instance 
 
 """
 function copy(steering::Steering)
@@ -65,7 +65,7 @@ calculates the outer steering angle of the wheel
 !only possible after using function kinematics!
 
 # Arguments
--`steering::Steering`: Instance of a specific steering
+- `steering::Steering`: Instance of a specific steering
 
 # Returns:
 - no returns because of in place programming
@@ -84,10 +84,10 @@ calculates the outer steering angle of the wheel
 !only possible after using function kinematics!
 
 # Arguments
--`steering::Steering`: Instance of a specific steering
+- `steering::Steering`: Instance of a specific steering
 
 # Returns 
--`δ`: inner steering angle  of the wheel 
+- `δ`: inner steering angle  of the wheel 
     
 """
 function angle_δo(steering::Steering)
@@ -111,7 +111,7 @@ calculates the inner steering angle of the wheel
 !only possible after using function kinematics!
 
 # Arguments
--`steering::Steering`: Instance of a specific steering
+- `steering::Steering`: Instance of a specific steering
 
 # Returns:
 - no returns because of in place programming
@@ -130,10 +130,10 @@ calculates the inner steering angle of the wheel
 !only possible after using function kinematics!
 
 # Arguments
--`steering::Steering`: Instance of a specific steering
+- `steering::Steering`: Instance of a specific steering
 
 # Returns 
--`δ`: inner steering angle  of the wheel 
+- `δ`: inner steering angle  of the wheel 
     
 """
 function angle_δi(steering::Steering)
@@ -154,11 +154,11 @@ end
 updates the kinematics of the given steering instance on the new angles and suspension
 
 # Arguments
--`angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+- `angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
         -`θx`: Angle of rotation of the rotation component around the x-axis
         -`θz`: Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
 - no returns because of in place programming
@@ -177,11 +177,11 @@ end
 updates the kinematics of the given steering instance on the new angles and suspension
 
 # Arguments
--`angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
-        -`θx`: Angle of rotation of the rotation component around the x-axis
-        -`θz`: Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+        - `θx`: Angle of rotation of the rotation component around the x-axis
+        - `θz`: Angle of rotation of the rotation component around the z-axis
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns
 -`steering::Steering`: Instance of a specific steering
@@ -199,10 +199,10 @@ end
 Returns important length values of steering components
 
 # Arguments
--`steering::Steering`:  Instance of a specific steering
+- `steering::Steering`:  Instance of a specific steering
 
 # Returns
--`(x_rotational_radius, z_rotational_radius, track_lever_length, tie_rod_length)`: important length values of steering components 
+- `(x_rotational_radius, z_rotational_radius, track_lever_length, tie_rod_length)`: important length values of steering components 
 """
 function getValue(steering::Steering)    
 return steering.rotational_component.x_rotational_radius, steering.rotational_component.z_rotational_radius, steering.track_lever.length, steering.tie_rod.length

src/core/steeringkinematics.jl

@@ -4,11 +4,11 @@
 For the moving rotational component with the angles (θx, θz), the kinematics of the steering is calculated
 
 # Arguments
--`angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
-        -`θx`: Angle of rotation of the rotation component around the x-axis
-        -`θz`: Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+        - `θx`: Angle of rotation of the rotation component around the x-axis
+        - `θz`: Angle of rotation of the rotation component around the z-axis
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
 - no returns because of in place programming
@@ -129,11 +129,11 @@ end
 For the rotation component in its rest position with the angles (θx, θz) = (0,0), the kinematics of the steering is calculated
 
 # Arguments
--`angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
-        -`θx`: Angle of rotation of the rotation component around the x-axis
-        -`θz`: Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+        - `θx`: Angle of rotation of the rotation component around the x-axis
+        - `θz`: Angle of rotation of the rotation component around the z-axis
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
 - no returns because of in place programming
@@ -254,11 +254,11 @@ end
 To fully describe the kinematics of the steering system, both MOVED and NEUTRAL states must be calculated
 
 # Arguments
--`angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
-        -`θx`: Angle of rotation of the rotation component around the x-axis
-        -`θz`: Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+        - `θx`: Angle of rotation of the rotation component around the x-axis
+        - `θz`: Angle of rotation of the rotation component around the z-axis
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
 - no returns because of in place programming
@@ -275,14 +275,14 @@ end
 To fully describe the kinematics of the steering system, both MOVED and NEUTRAL states must be calculated
 
 # Arguments
--`angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
-        -`θx`: Angle of rotation of the rotation component around the x-axis
-        -`θz`: Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `angleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+        - `θx`: Angle of rotation of the rotation component around the x-axis
+        - `θz`: Angle of rotation of the rotation component around the z-axis
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
-- "steering::Steering": Instance of a specific steering
+- `steering::Steering`: Instance of a specific steering
 """
 function steeringkinematics(angleConfig::Tuple{T,T}, steering::Steering, suspension::Suspension) where {T<:Any}
     cpy_steering = copy(steering)

src/core/suspensionkinematics.jl

@@ -5,7 +5,7 @@
 calculates all the movement-dependent positions of the joints in MOVED-Position
 
 # Arguments:
--`suspension::Suspension`: Suspension of the micromobility vehicle
+- `suspension::Suspension`: Suspension of the micromobility vehicle
 
 
 """
@@ -64,7 +64,7 @@ end
 calculates all the movement-dependent positions of the joints in NEUTRAL-Position
 
 # Arguemnts:
--`suspension::Suspension`: Suspension of the micromobility vehicle
+- `suspension::Suspension`: Suspension of the micromobility vehicle
 
 
 """
@@ -124,7 +124,7 @@ end
     calculates all the movement-dependent positions of the joints in NEUTRAL- and MOVED-Postion
     
 # Arguments:
--`suspension::Suspension`: Suspension of the micromobility vehicle
+- `suspension::Suspension`: Suspension of the micromobility vehicle
 """
 function suspensionkinematics!(suspension::Suspension)
     suspensionkinematicsNEUTRAL!(suspension)

src/optimization/core_dependencies.jl

@@ -286,7 +286,7 @@ calculates the diffrence of the max. ideal outer wheel angle and the current max
 
 # Arguments
 - `steering::Steering`: the last state of the steering kinematics
--`measurements::Measurements`: Instance of a specific all relevant Measurements of the vehicle
+- `measurements::Measurements`: Instance of a specific all relevant Measurements of the vehicle
 
 # Returns
 - dependency for the minimal track circle

src/optimization/dependencies.jl

@@ -7,7 +7,7 @@ checks angle dependency
 - `steering::Steering`: Instance of a specific steering
 
 # Returns:
--`::Bool`
+- `::Bool`
 """
 function AngleDependency(arge...)
     try
@@ -27,10 +27,10 @@ end
 checks kinematic dependency
 
 # Arguments
--`steering::Steering`: Instance of a specific steering
+- `steering::Steering`: Instance of a specific steering
 
 # Returns:
--`::Bool`
+- `::Bool`
 """
 function KinematicDependency(arge...)
     try
@@ -65,7 +65,7 @@ checks singularity constraints
 - `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
--`::Bool`
+- `::Bool`
 """
 function SingularityConstraint(arge...)
     try 
@@ -87,11 +87,11 @@ end
     checks tracking circle constraint
 
 # Arguments
--`steering::Steering`: Instance of a specific steering
--`measurements::Measurements`: Instance of a specific all relevant Measurements of the vehicle
+- `steering::Steering`: Instance of a specific steering
+- `measurements::Measurements`: Instance of a specific all relevant Measurements of the vehicle
     
 # Returns:
--`::Bool`
+- `::Bool`
 """
 function TrackingCircleConstraint(arge...)
     try 
@@ -111,17 +111,17 @@ checkConstraints(step_size, max_angleConfig::Tuple, steering::Steering, suspensi
     checks  all constraints and dependencies
 
 # Arguments 
--`step_size`: step_size in which the angular area should be checked
--`maxangleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
+- `step_size`: step_size in which the angular area should be checked
+- `maxangleConfig::Tuple{T,T}`: angles (θx,θz) in which the rotational component is rotated
         -`θx`: maximal Angle of rotation of the rotation component around the x-axis
         -`θz`: maximal Angle of rotation of the rotation component around the z-axis
--`steering::Steering`: Instance of a specific steering
--`suspension::Suspension`: Instance of a specific suspension
+- `steering::Steering`: Instance of a specific steering
+- `suspension::Suspension`: Instance of a specific suspension
 
 # Returns:
--`::Bool`:
-        -`false`: It is not possible to match the constraints in a satisfactory manner
-        -`true`: It is possible to match the constraints in a satisfactory manner
+- `::Bool`:
+        - `false`: It is not possible to match the constraints in a satisfactory manner
+        - `true`: It is possible to match the constraints in a satisfactory manner
 """
 function checkConstraints(step_size, max_angleConfig::Tuple, steering::Steering, suspension::Suspension) 
     θx_max, θz_max = max_angleConfig
@@ -197,15 +197,15 @@ The wrapper function of the checkConstraints procedure is employed for the purpo
 ! function°(): symbolises that this function should only be used within the optimisation !
 
 # Arguments
--`x_rotational_radius`: Length of the rotational component around the x-axis. (detailed info in doc)
--`z_rotational_radius`: Length of the rotational component around the z-axis. (detailed info in doc)
--`track_lever_length`: Length of the track lever. (detailed info in doc)
--`tie_rod_length`: Length of tie rod. (detailed info in doc)
+- `x_rotational_radius`: Length of the rotational component around the x-axis. (detailed info in doc)
+- `z_rotational_radius`: Length of the rotational component around the z-axis. (detailed info in doc)
+- `track_lever_length`: Length of the track lever. (detailed info in doc)
+- `tie_rod_length`: Length of tie rod. (detailed info in doc)
 
 # Returns
--`binary`:
-        -`0`: It is not possible to match the constraints in a satisfactory manner.
-        -`1`: It is possible to match the constraints in a satisfactory manner.
+- `binary`:
+        - `0`: It is not possible to match the constraints in a satisfactory manner.
+        - `1`: It is possible to match the constraints in a satisfactory manner.
 
 """
 function checkConstraints°(x_rotational_radius, z_rotational_radius, track_lever_length, tie_rod_length)
@@ -235,18 +235,17 @@ end
 random search with given border for the parameters and given angular area for rotary component 
 
 # Arguments:
--`upper_border::Tuple{Float64, Float64, Float64, Float64}`: upper border Tuple (x_rotational_radius, z_rotational_radius, track_lever.length, tie_rod.length)  (guidline = (100.0, 140.0,150.0,270.0))
--`lower_border::Tuple{Float64, Float64, Float64, Float64}`: lower border Tuple (x_rotational_radius, z_rotational_radius, track_lever.length, tie_rod.length) (guidline = (50.0,100.0, 100.0, 100.0))
--`max_angleConfig`: maximal angular area for rotary component (defult: (0,35))
+- `upper_border::Tuple{Float64, Float64, Float64, Float64}`: upper border Tuple (x_rotational_radius, z_rotational_radius, track_lever.length, tie_rod.length)  (guidline = (100.0, 140.0,150.0,270.0))
+- `lower_border::Tuple{Float64, Float64, Float64, Float64}`: lower border Tuple (x_rotational_radius, z_rotational_radius, track_lever.length, tie_rod.length) (guidline = (50.0,100.0, 100.0, 100.0))
+- `max_angleConfig`: maximal angular area for rotary component (defult: (0,35))
 
 # Keywords:
-
--`info::Bool`: true if info should be printed
--`radius`: desired track circle radius (defult: 3500)
--`step_size`: step_size in which the angular area should be checked
+- `info::Bool`: true if info should be printed
+- `radius`: desired track circle radius (defult: 3500)
+- `step_size`: step_size in which the angular area should be checked
 
 # Returns:
--`compLength`: tuple (x_rotational_radius, z_rotational_radius, track_lever.length, tie_rod.length)
+- `compLength`: tuple (x_rotational_radius, z_rotational_radius, track_lever.length, tie_rod.length)
 """
 function random_search(upper_border::Tuple{T,T,T,T},lower_border::Tuple{T,T,T,T}, max_angleConfig::Tuple{I,I} ; info = false, step_size = 1 ) where {T<:Real, I<:Integer}
     param = nothing