From 9060404037b9936d059a296d888a64b0e9da92d2 Mon Sep 17 00:00:00 2001 From: v4hn Date: Fri, 19 Jun 2020 23:07:57 +0200 Subject: [PATCH] improve comments --- core/include/moveit/task_constructor/cost_terms.h | 2 +- core/include/moveit/task_constructor/stage.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/core/include/moveit/task_constructor/cost_terms.h b/core/include/moveit/task_constructor/cost_terms.h index a1ad49ed..7a7f942b 100644 --- a/core/include/moveit/task_constructor/cost_terms.h +++ b/core/include/moveit/task_constructor/cost_terms.h @@ -19,7 +19,7 @@ private: double cost_; }; -/// define cost as execution duration of the whole trajectory +/// execution duration of the whole trajectory double PathLengthCost(const SubTrajectory& s); } } diff --git a/core/include/moveit/task_constructor/stage.h b/core/include/moveit/task_constructor/stage.h index 397a56a6..5a229f9d 100644 --- a/core/include/moveit/task_constructor/stage.h +++ b/core/include/moveit/task_constructor/stage.h @@ -231,7 +231,7 @@ public: /* \brief set CostTransform to be applied to costs of this stage's solution costs * * This interface can be used to modify the cost associated with each solution of this stage/container. - * The most common case would be linear weighting `[=a](double c){ return a*c; }` + * The most common case would be linear weighting `[](double cost){ return constant*cost; }` * but any non-linear transform is obviously possible as well. */ void setCostTransform(const CostTransform& transform);