diff --git a/common/symbolic_rational_function.h b/common/symbolic_rational_function.h index 33f7c46e00f2..6b0286d6fdd2 100644 --- a/common/symbolic_rational_function.h +++ b/common/symbolic_rational_function.h @@ -150,7 +150,7 @@ RationalFunction operator/(double c, const RationalFunction& f); */ RationalFunction pow(const RationalFunction& f, int n); /** - * Provides the following operations: + * Provides the following operations: * * - Matrix * Matrix => Matrix * - Matrix * Matrix => Matrix diff --git a/manipulation/schunk_wsg/schunk_wsg_plain_controller.h b/manipulation/schunk_wsg/schunk_wsg_plain_controller.h index c3d8ed8628c0..65e53b4ef0ef 100644 --- a/manipulation/schunk_wsg/schunk_wsg_plain_controller.h +++ b/manipulation/schunk_wsg/schunk_wsg_plain_controller.h @@ -16,7 +16,7 @@ enum class ControlMode { kPosition = 0, kForce = 1 }; * control mode specified for the controller, which can be either * ControlMode::kPosition or ControlMode::kForce. In both cases, the overall * layout of the diagram is: - *``` + * ``` * ┌─────────────┐ * joint │Joint State │ ┌──────────┐ * state ─────▶│To Control ├──▶│ │ @@ -45,12 +45,12 @@ enum class ControlMode { kPosition = 0, kForce = 1 }; * │ ┌──┐ └──▶│Saturation├──▶│To Joint ├──▶│ │ * max force / 2 ──┴──▶│-1├─────▶│ │ │Force │ └───┘ * └──┘ └──────────┘ └───────────┘ - *``` + * ``` * The blocks with double outlines (══) differ between the two control modes: * * - Generate Desired Control State * - ControlMode::kPosition - *``` + * ``` * ┌───────────┐ * │Desired │ * │Mean Finger├──▶█ @@ -62,9 +62,9 @@ enum class ControlMode { kPosition = 0, kForce = 1 }; * grip ───────▶█ * state * - *``` + * ``` * - ControlMode::kForce - *``` + * ``` * ┌───────────┐ * │Desired │ desired * │Mean Finger├────────────────────────▶ control @@ -74,10 +74,10 @@ enum class ControlMode { kPosition = 0, kForce = 1 }; * desired ┌────────┐ * grip ───────▶│IGNORED │ * state └────────┘ - *``` + * ``` * - Handle Feed-Forward Force * - ControlMode::kPosition - *``` + * ``` * █────▶ mean finger force * pid █ * controller ────────────────▶█ @@ -86,9 +86,9 @@ enum class ControlMode { kPosition = 0, kForce = 1 }; * feed ┌────────┐ * forward ──────▶│IGNORED │ * force └────────┘ - *``` + * ``` * - ControlMode::kForce - *``` + * ``` * pid * controller ──────────────────────▶ mean finger force * output @@ -97,7 +97,7 @@ enum class ControlMode { kPosition = 0, kForce = 1 }; * forward ─────────────────────────▶ grip force * force * - *``` + * ``` * The remaining blocks differ only in their numerical parameters. * * Note that the "feed forward force" input is ignored for diff --git a/multibody/tree/door_hinge.h b/multibody/tree/door_hinge.h index fbc7e8e45c47..5b7acc2dc979 100644 --- a/multibody/tree/door_hinge.h +++ b/multibody/tree/door_hinge.h @@ -153,7 +153,7 @@ class DoorHinge final : public ForceElement { @name Advanced Functions Convenience functions for evaluating %DoorHinge operations without worrying about context-related issues. - @{ + @{ */ /// Calculates the total frictional torque with the given @p angular_rate diff --git a/perception/point_cloud.h b/perception/point_cloud.h index e6a4ed8c3e93..618260bc3c43 100644 --- a/perception/point_cloud.h +++ b/perception/point_cloud.h @@ -160,7 +160,7 @@ class PointCloud final { return mutable_xyzs().col(i); } - /// @} // Geometric Descriptors - XYZs + /// @} /// @name Geometric Descriptors - Normals /// @{ @@ -186,7 +186,7 @@ class PointCloud final { return mutable_normals().col(i); } - /// @} // Geometric Descriptors - Normals + /// @} /// @name Geometric Descriptors - RGBs /// @{ @@ -212,7 +212,7 @@ class PointCloud final { return mutable_rgbs().col(i); } - /// @} // Geometric Descriptors - RGBs + /// @} /// @name Run-Time Descriptors /// @{ diff --git a/solvers/constraint.h b/solvers/constraint.h index 6018209d183d..794b34c18ebb 100644 --- a/solvers/constraint.h +++ b/solvers/constraint.h @@ -449,11 +449,11 @@ class EvaluatorConstraint : public Constraint { }; /** + * A constraint on the values of multivariate polynomials. + * * lb[i] <= P[i](x, y...) <= ub[i], where each P[i] is a multivariate * polynomial in x, y... * - * A constraint on the values of multivariate polynomials. - * * The Polynomial class uses a different variable naming scheme; thus the * caller must provide a list of Polynomial::VarType variables that correspond * to the members of the MathematicalProgram::Binding (the individual scalar diff --git a/solvers/test/semidefinite_program_examples.h b/solvers/test/semidefinite_program_examples.h index f9b22c9c3c09..a10b67d88757 100644 --- a/solvers/test/semidefinite_program_examples.h +++ b/solvers/test/semidefinite_program_examples.h @@ -81,17 +81,15 @@ void SolveSDPwithSecondOrderConeExample1(const SolverInterface& solver, void SolveSDPwithSecondOrderConeExample2(const SolverInterface& solver, double tol); -/** Solve an SDP with two PSD constraint, each of the PSD constraint has - * duplicated entries, and the two PSD matrix share a common variables. - +/** Solve an SDP with two PSD constraint, where each PSD constraint has + * duplicate entries and the two PSD matrix share a common variables. * min 2 * x0 + x2 * s.t [x0 x1] is psd * [x1 x0] - * [x0 x2] is psd * [x2 x0] * x1 == 1 - * the optimal solution is x = (1, 1, -1). + * The optimal solution will be x = (1, 1, -1). */ void SolveSDPwithOverlappingVariables(const SolverInterface& solver, double tol); diff --git a/systems/analysis/bogacki_shampine3_integrator.h b/systems/analysis/bogacki_shampine3_integrator.h index 2d369f424888..8c130951a8e2 100644 --- a/systems/analysis/bogacki_shampine3_integrator.h +++ b/systems/analysis/bogacki_shampine3_integrator.h @@ -23,7 +23,7 @@ namespace systems { ----------------------------------------------------------------------------- 2/9 1/3 4/9 0 7/24 1/4 1/3 1/8 - + where the second to last row is the 3rd-order (propagated) solution and the last row gives a 2nd-order accurate solution used for error control.