Update function docstring.
@@ -72,13 +72,24 @@ class PathParametrizationAlgorithm {
* This method implements a simple way to select gridpoints.
*/
virtual void initialize();
+
+ /** \brief Compute the forward pass.
+ *
+ * Derived class should provide a suitable forward pass function,
+ * depending on the desired objective.
+ */
virtual ReturnCode computeForwardPass(double vel_start) = 0;
+ /** Compute the sets of feasible squared velocities.
+ */
ReturnCode computeFeasibleSets(Matrix &feasible_sets);
+
+
+ /** Compute the sets of controllable squared path velocities.
+ */
ReturnCode computeControllableSets(Bound vel_ends);
/** To be implemented in child method. */
- ReturnCode forwardStep(int i, Bound L_current, Bound K_next, Vector &solution);
LinearConstraintPtrs m_constraints;
const GeometricPath &m_path;
SolverPtr m_solver;
