comment update

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();
 	
 
-	
 }
 //-------------------------------------------------------------