Merge pull request #9 from Preliy/development

Development

Author: Preliy

Runtime/Scripts/Kinematic/FrameConfig.cs

@@ -3,7 +3,7 @@
 namespace Preliy.Flange
 {
     /// <summary>
-    /// Denavit–Hartenberg frame configuration
+    /// Frame configuration using the Denavit-Hartenberg parameters
     /// </summary>
     [System.Serializable]
     public record FrameConfig
@@ -24,14 +24,24 @@ public string Name
         [Tooltip("Alpha [rad]")]
         [SerializeField]
         private float _alpha;
+        [Tooltip("A [m]")]
         [SerializeField]
         private float _a;
+        [Tooltip("D [m]")]
         [SerializeField]
         private float _d;
         [Tooltip("Theta [rad]")]
         [SerializeField]
         private float _theta;
 
+        /// <summary>
+        /// Initializes a new instance of the <see cref="FrameConfig"/> class using the Denavit-Hartenberg parameters
+        /// </summary>
+        /// <param name="alpha">The link twist (α) [rad], representing the angle between the z-axes of consecutive frames.</param>
+        /// <param name="a">The link length (a) [m], which is the distance between the z-axes along the common normal.</param>
+        /// <param name="d">The link offset (d) [m], the distance along the previous z-axis to the common normal.</param>
+        /// <param name="theta">The joint angle (θ) [rad], the rotation about the previous z-axis to align the x-axes.</param>
+        /// <param name="name">An optional identifier for the frame configuration.</param>
         public FrameConfig(float alpha, float a, float d, float theta, string name = null)
         {
             _name = name;

Runtime/Scripts/Kinematic/JointConfig.cs

@@ -22,20 +22,31 @@ public string Name
         private string _name;
         [SerializeField]
         private TransformJoint.JointType _type;
+        [Tooltip("Limits [deg] or [m]")]
         [SerializeField]
         private Vector2 _limits;
-        [Tooltip("Offset [deg]")]
+        [Tooltip("Offset [deg] or [m]")]
         [SerializeField]
         private float _offset;
         [SerializeField]
         private float _factor;
-        [Tooltip("Speed max [deg/s]")]
+        [Tooltip("Speed max [deg/s] or [m/s]")]
         [SerializeField]
         private float _speedMax;
-        [Tooltip("Acc max [deg/s^2]")]
+        [Tooltip("Acc max [deg/s^2] or [m/s^2]")]
         [SerializeField]
         private float _accMax;
-
+        
+        /// <summary>
+        /// Initializes a new instance of the <see cref="JointConfig"/> class with the specified joint configuration parameters.
+        /// </summary>
+        /// <param name="type">The type of the transform joint (e.g., revolute or prismatic).</param>
+        /// <param name="limits">The joint limits as a <see cref="Vector2"/>, representing the minimum and maximum values in [deg] or [m].</param>
+        /// <param name="offset">The offset value for the joint, specified in [deg] or [m].</param>
+        /// <param name="factor">A scaling factor applied to the joint’s configuration.</param>
+        /// <param name="speedMax">The maximum speed of the joint in [deg/s] or [m/s].</param>
+        /// <param name="accMax">The maximum acceleration of the joint in [deg/s^2] or [m/s^2].</param>
+        /// <param name="name">An optional identifier for the joint configuration.</param>
         public JointConfig(TransformJoint.JointType type, Vector2 limits, float offset, float factor, float speedMax, float accMax, string name = null)
         {
             _name = name;