Merge pull request #299 from tkoolen/docs-fixes

Minor doc fixes

docs/make.jl

@@ -1,8 +1,8 @@
-using Documenter, RigidBodyDynamics
+using Documenter, RigidBodyDynamics, RigidBodyDynamics.OdeIntegrators
 
 makedocs(
     # options
-    modules = [RigidBodyDynamics],
+    modules = [RigidBodyDynamics, RigidBodyDynamics.OdeIntegrators],
     format = :html,
     sitename ="RigidBodyDynamics.jl",
     authors = "Twan Koolen and contributors.",

docs/src/joints.md

@@ -22,8 +22,9 @@ Pages   = ["joint.jl"]
 
 ## `JointType`s
 
-```@autodocs
-Modules = [RigidBodyDynamics]
-Order   = [:type, :function]
-Pages   = ["joint_types.jl"]
+```@docs
+QuaternionFloating
+Revolute
+Prismatic
+Fixed
 ```

docs/src/simulation.md

@@ -12,8 +12,16 @@ simulate
 ```
 
 ## Lower level ODE integration interface
+```@docs
+MuntheKaasIntegrator
+ButcherTableau
+OdeResultsSink
+RingBufferStorage
+ExpandingStorage
+```
+
 ```@autodocs
 Modules = [RigidBodyDynamics.OdeIntegrators]
-Order   = [:type, :function]
+Order   = [:function]
 Pages   = ["ode_integrators.jl"]
 ```

src/frames.jl

@@ -20,13 +20,23 @@ quantities are expressed.
 struct CartesianFrame3D
     id::Int64
 
+    """
+    $(SIGNATURES)
+
+    Create a `CartesianFrame3D` with the given name.
+    """
     function CartesianFrame3D(name::String)
         ret = new(next_frame_id.x)
         next_frame_id.x = Base.Checked.checked_add(next_frame_id.x, 1)
         frame_names[ret.id] = name
         ret
     end
 
+    """
+    $(SIGNATURES)
+
+    Create an anonymous `CartesianFrame3D`.
+    """
     function CartesianFrame3D()
         ret = new(next_frame_id.x)
         next_frame_id.x = Base.Checked.checked_add(next_frame_id.x, 1)
@@ -40,7 +50,7 @@ Base.show(io::IO, frame::CartesianFrame3D) = print(io, "CartesianFrame3D: \"$(na
 """
 $(SIGNATURES)
 
-Check that `f1` and `f2` are identical (when bounds checks are enabled).
+Check that `CartesianFrame3D`s `f1` and `f2` are identical (when bounds checks are enabled).
 
 Throws an `ArgumentError` if `f1` is not identical to `f2` when bounds checks
 are enabled. `@framecheck` is a no-op when bounds checks are disabled.

src/mechanism.jl

@@ -11,6 +11,12 @@ mutable struct Mechanism{T}
     environment::ContactEnvironment{T}
     gravitationalAcceleration::FreeVector3D{SVector{3, T}} # TODO: consider removing
 
+    """
+    $(SIGNATURES)
+
+    Create a new `Mechanism` containing only a root body, to which other bodies can
+    be attached with joints.
+    """
     function Mechanism(rootBody::RigidBody{T}; gravity::SVector{3, T} = SVector(zero(T), zero(T), T(-9.81))) where {T}
         graph = DirectedGraph{RigidBody{T}, GenericJoint{T}}()
         add_vertex!(graph, rootBody)
@@ -21,12 +27,6 @@ mutable struct Mechanism{T}
     end
 end
 
-"""
-$(SIGNATURES)
-
-Create a new `Mechanism` containing only a root body, to which other bodies can
-be attached with joints.
-"""
 Base.eltype(::Type{Mechanism{T}}) where {T} = T
 
 """

src/ode_integrators.jl

@@ -6,6 +6,7 @@ using DocStringExtensions
 
 export runge_kutta_4,
     MuntheKaasIntegrator,
+    ButcherTableau,
     OdeResultsSink,
     RingBufferStorage,
     ExpandingStorage,

src/simulate.jl

@@ -7,7 +7,7 @@ Basic `Mechanism` simulation: integrate the state from time ``0`` to `finalTime`
 starting from the initial state `state0`. Return a `Vector` of times, as well as
 `Vector`s of configuration vectors and velocity vectors at these times.
 
-Uses `MuntheKaasIntegrator`. See [`MuntheKaasIntegrator`](@ref) for a lower
+Uses `MuntheKaasIntegrator`. See [`RigidBodyDynamics.OdeIntegrators.MuntheKaasIntegrator`](@ref) for a lower
 level interface with more options.
 """
 function simulate(state0::MechanismState, finalTime; Δt = 1e-4)

src/spatial.jl

@@ -711,7 +711,11 @@ to an inertial frame, achieve spatial acceleration ``\\dot{T}``.
 
 This wrench is also equal to the rate of change of momentum of the body.
 """
-function newton_euler(I::SpatialInertia, Ṫ::SpatialAcceleration, T::Twist)
+function newton_euler(inertia::SpatialInertia, spatial_accel::SpatialAcceleration, twist::Twist)
+    I = inertia
+    T = twist
+    Ṫ = spatial_accel
+
     body = Ṫ.body
     base = Ṫ.base # TODO: should assert that this is an inertial frame somehow
     frame = Ṫ.frame
@@ -775,14 +779,14 @@ $(SIGNATURES)
 Compute the kinetic energy of a body with spatial inertia ``I``, which has
 twist ``T`` with respect to an inertial frame.
 """
-function kinetic_energy(I::SpatialInertia, twist::Twist)
-    @framecheck(I.frame, twist.frame)
+function kinetic_energy(inertia::SpatialInertia, twist::Twist)
+    @framecheck(inertia.frame, twist.frame)
     # TODO: should assert that twist.base is an inertial frame somehow
     ω = twist.angular
     v = twist.linear
-    J = I.moment
-    c = I.crossPart
-    m = I.mass
+    J = inertia.moment
+    c = inertia.crossPart
+    m = inertia.mass
     (dot(ω, J * ω) + dot(v, m * v + 2 * cross(ω, c))) / 2
 end