[Bug 713] Weighted DLS solver: Weight matrix doc

http://bugs.orocos.org/show_bug.cgi?id=713

Ruben Smits <ruben [dot] smits [..] ...> changed:

What |Removed |Added
----------------------------------------------------------------------------
Status|NEW |RESOLVED
CC| |ruben [dot] smits [..] ...en.b
| |e
Resolution| |FIXED

--- Comment #3 from Ruben Smits <ruben [dot] smits [..] ...> 2011-05-26 10:18:26 CEST ---
Patch was applied quite a while ago:

Available on svn: https://svn.mech.kuleuven.be/repos/orocos/trunk/kdl@30750
and on http://git.mech.kuleuven.be/robotics/orocos_kinematics_dynamics.git:

commit 1cb199ca66ac7ba7f029dd5a1e8ce30a77bf0fd9
Author: Ruben Smits <ruben [dot] smits [..] ...>
Date: Mon Oct 19 08:37:02 2009 +0000

fix Bug 713 - Weighted DLS solver: Weight matrix doc, applied Attachment

git-svn-id: https://svn.mech.kuleuven.be/repos/orocos/trunk/kdl@30750 ce41

diff --git a/src/chainiksolvervel_wdls.hpp b/src/chainiksolvervel_wdls.hpp
index a8cc730..6ec889c 100644
--- a/src/chainiksolvervel_wdls.hpp
+++ b/src/chainiksolvervel_wdls.hpp
@@ -41,6 +41,12 @@ namespace KDL
*
* and B = Ub*Db*Vb' is the SVD decomposition of B
*
+ * Mq and Mx represent, respectively, the joint-space and task-space weig
+ * matrices.
+ * Please refer to the documentation of setWeightJS(const Eigen::MatrixXd
+ * and setWeightTS(const Eigen::MatrixXd& Mx) for details on the effects
+ * these matrices.
+ *
* For more details on Weighted Pseudo Inverse, see :
* 1) [Ben Israel 03] A. Ben Israel & T.N.E. Greville.
* Generalized Inverses : Theory and Applications,