Added docstrings

include/franky/joint_state.hpp

@@ -9,25 +9,45 @@
 
 namespace franky {
 
+/**
+ * @brief Joint state of a robot.
+ *
+ * This class encapsulates the joint state of a robot, which comprises the joint positions and the joint velocities.
+ */
 class JointState {
  public:
   // Suppress implicit conversion warning
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wimplicit-conversion"
+  /**
+   * @brief Construct a joint state with the given joint positions and zero velocities.
+   *
+   * @param position The joint positions.
+   */
   JointState(Vector7d position) : position_(std::move(position)), velocity_(Vector7d::Zero()) {}
 #pragma clang diagnostic pop
 
+  /**
+   * @param position The joint positions.
+   * @param velocity The joint velocities.
+   */
   JointState(Vector7d position, Vector7d velocity)
       : position_(std::move(position)), velocity_(std::move(velocity)) {}
 
   JointState(const JointState &) = default;
 
   JointState() = default;
 
+  /**
+   * @brief The position component of the state.
+   */
   [[nodiscard]] inline Vector7d position() const {
     return position_;
   }
 
+  /**
+   * @brief The velocity component of the state.
+   */
   [[nodiscard]] inline Vector7d velocity() const {
     return velocity_;
   }

include/franky/relative_dynamics_factor.hpp

@@ -4,30 +4,69 @@
 
 namespace franky {
 
+/**
+ * @brief Relative dynamics factors
+ *
+ * This class encapsulates the relative dynamics factors, which are used to scale the maximum velocity, acceleration,
+ * and jerk of a trajectory.
+ */
 class RelativeDynamicsFactor {
  public:
-  RelativeDynamicsFactor();;
+  /**
+   * @brief Default constructor which initializes all values to 1.0.
+   */
+  RelativeDynamicsFactor();
 
+  // Suppress implicit conversion warning
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wimplicit-conversion"
+  /**
+   * @brief Constructor which initializes all values to the given value.
+   *
+   * @param value The value to initialize all factors with. Must be in the range (0, 1].
+   */
   RelativeDynamicsFactor(double value);
+#pragma clang diagnostic pop
 
-  RelativeDynamicsFactor(double velocity, double acceleration, double jerk);;
+  /**
+   * @param velocity The factor for the velocity. Must be in the range (0, 1].
+   * @param acceleration The factor for the acceleration. Must be in the range (0, 1].
+   * @param jerk The factor for the jerk. Must be in the range (0, 1].
+   */
+  RelativeDynamicsFactor(double velocity, double acceleration, double jerk);
 
+   /**
+    * @brief Special factor which causes the maximum dynamics to be used, independent of other factors applied
+    * elsewhere.
+    */
   static inline RelativeDynamicsFactor MAX_DYNAMICS() {
     return {1.0, 1.0, 1.0, true};
   }
 
+  /**
+   * @brief Velocity factor.
+   */
   [[nodiscard]] inline double velocity() const {
     return velocity_;
   }
 
+  /**
+   * @brief Acceleration factor.
+   */
   [[nodiscard]] inline double acceleration() const {
     return acceleration_;
   }
 
+  /**
+   * @brief Jerk factor.
+   */
   [[nodiscard]] inline double jerk() const {
     return jerk_;
   }
 
+  /**
+   * @brief Whether the maximum dynamics should be used.
+   */
   [[nodiscard]] inline bool max_dynamics() const {
     return max_dynamics_;
   }