add more documentation to GraspFrictionConeWrench.m

yk-ren · Nov 9, 2014 · a9fbc40 · a9fbc40
1 parent 5f8efe5
commit a9fbc40
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/solvers/trajectoryOptimization/GraspFrictionConeWrench.m b/solvers/trajectoryOptimization/GraspFrictionConeWrench.m
@@ -1,4 +1,8 @@
 classdef GraspFrictionConeWrench < RigidBodyContactWrench
+  % When consider hand contact, the usual case is that we have a contact
+  % patch on the hand, but the contact normal direction is specified on the
+  % object being grasped. This class allows the user to specify a grasp
+  % point on the hand, with grasp normal on the object
   properties(SetAccess = protected)
     grasp_object_idx  % The index of the object being grasped
     finger_idx  % The index of the finger of grasping