From b22b6a958d5a28fb2f4630a179907b8cb406376f Mon Sep 17 00:00:00 2001
From: Martin Karlsson <cont-mkr@ulund.org>
Date: Fri, 20 Sep 2019 14:31:20 +0200
Subject: [PATCH] comment update

---
 cpp/main.cc | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/cpp/main.cc b/cpp/main.cc
index eaef22f..9013cbd 100644
--- a/cpp/main.cc
+++ b/cpp/main.cc
@@ -87,34 +87,36 @@ void* handler_thread(void *arg) {
 //------------------------------------------------------------------
 /* Is called when trajectory is received from orca/robot. */
 void handle_trajectory(coupling_yaFromRobot* v, void* context) {
-
+    // This cuntion is called once per sample.
 	
+    // Actual configuration.
 	mat ya(1,dof);
 	for (int i = 0; i < dof; ++i) {
 		ya(i) = v->a[i];
 	}
+    
+    // Time derivative of actual configuration.
 	mat yad(1,dof);
 	for (int i = dof; i < 2*dof; ++i) {
 		yad(i-dof) = v->a[i];
 	}
-	
-	
 
-	
+    // Save trajectory (depending on mode)
 	mtx.lock();
 		record_ya(ya, dmpVec, dt, sparse_dt, takeEvery, RECORD_DMP, PLAY_DMP);
 	mtx.unlock();	
 	
+    // Execute DMP. Yields reference acceleration given the state.
 	mtx.lock();
 		state2yardd(ya,yad,yardd, PLAY_DMP, DMP_NBR, dmpVec, yclog, ycddlog, ya_minus_yc, yad_minus_ycd, e_norm_log, xlog, yc_minus_g, zlog);
 	mtx.unlock();
 	
+    // Just for logging purposes.
 	mtx.lock();
 		write_norms_to_file(ya_minus_yc, yad_minus_ycd, e_norm_log, xlog, yc_minus_g, zlog, PLAY_DMP);
 	mtx.unlock();
 	
 
-	
 }
 //-------------------------------------------------------------
 
-- 
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