Fix barrier docs

Author: zfergus

cmake/recipes/eigen.cmake

@@ -44,6 +44,15 @@ if(EIGEN_WITH_MKL)
         EIGEN_USE_MKL_ALL
         EIGEN_USE_LAPACKE_STRICT
     )
+elseif(APPLE)
+    target_link_libraries(Eigen3_Eigen INTERFACE
+        "-framework Accelerate"
+        "/opt/homebrew/opt/lapack/lib/liblapacke.dylib"
+    )
+    target_compile_definitions(Eigen3_Eigen INTERFACE
+        EIGEN_USE_BLAS
+        EIGEN_USE_LAPACKE_STRICT
+    )
 endif()
 
 # On Windows, enable natvis files to improve debugging experience

docs/requirements.txt

@@ -9,4 +9,5 @@ pandoc
 myst_parser==1.0.0
 sphinxcontrib-bibtex
 sphinxemoji
-sphinx-last-updated-by-git
+sphinx-last-updated-by-git
+sphinx-autobuild

docs/source/cpp-api/barrier.rst

@@ -1,12 +1,22 @@
 Barrier
 =======
 
-.. doxygenfunction:: barrier
-.. doxygenfunction:: barrier_gradient
-.. doxygenfunction:: barrier_hessian
+.. doxygenfunction:: ipc::barrier
+.. doxygenfunction:: ipc::barrier_first_derivative
+.. doxygenfunction:: ipc::barrier_second_derivative
 
 Adaptive Barrier Stiffness
 --------------------------
 
-.. doxygenfunction:: initial_barrier_stiffness
-.. doxygenfunction:: update_barrier_stiffness
+.. doxygenfunction:: ipc::initial_barrier_stiffness
+.. doxygenfunction:: ipc::update_barrier_stiffness
+
+Barrier Class
+-------------
+
+.. doxygenclass:: ipc::Barrier
+
+Clamped Log Barrier
+~~~~~~~~~~~~~~~~~~~
+
+.. doxygenclass:: ipc::ClampedLogBarrier

docs/source/python-api/barrier.rst

@@ -2,11 +2,21 @@ Barrier
 =======
 
 .. autofunction:: ipctk.barrier
-.. autofunction:: ipctk.barrier_gradient
-.. autofunction:: ipctk.barrier_hessian
+.. autofunction:: ipctk.barrier_first_derivative
+.. autofunction:: ipctk.barrier_second_derivative
 
 Adaptive Barrier Stiffness
 --------------------------
 
 .. autofunction:: ipctk.initial_barrier_stiffness
-.. autofunction:: ipctk.update_barrier_stiffness
+.. autofunction:: ipctk.update_barrier_stiffness
+
+Barrier Class
+-------------
+
+.. autoclass:: ipctk.Barrier
+
+Clamped Log Barrier
+~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: ipctk.ClampedLogBarrier

python/src/barrier/barrier.cpp

@@ -20,17 +20,59 @@ void define_barrier(py::module_& m)
 {
     py::class_<Barrier, PyBarrier, std::shared_ptr<Barrier>>(m, "Barrier")
         .def(py::init<>())
-        .def("__call__", &Barrier::operator(), py::arg("d"), py::arg("dhat"))
+        .def(
+            "__call__", &Barrier::operator(), py::arg("d"), py::arg("dhat"),
+            R"ipc_Qu8mg5v7(
+            Evaluate the barrier function.
+
+            Parameters:
+                d: The distance.
+                dhat: Activation distance of the barrier.
+
+            Returns:
+                The value of the barrier function at d.
+            )ipc_Qu8mg5v7")
         .def(
             "first_derivative", &Barrier::first_derivative, py::arg("d"),
-            py::arg("dhat"))
+            py::arg("dhat"),
+            R"ipc_Qu8mg5v7(
+            Evaluate the first derivative of the barrier function wrt d.
+
+            Parameters:
+                d: The distance.
+                dhat: Activation distance of the barrier.
+
+            Returns:
+                The value of the first derivative of the barrier function at d.
+            )ipc_Qu8mg5v7")
         .def(
             "second_derivative", &Barrier::second_derivative, py::arg("d"),
-            py::arg("dhat"))
-        .def("units", &Barrier::units, py::arg("dhat"));
+            py::arg("dhat"),
+            R"ipc_Qu8mg5v7(
+            Evaluate the second derivative of the barrier function wrt d.
+
+            Parameters:
+                d: The distance.
+                dhat: Activation distance of the barrier.
+
+            Returns:
+                The value of the second derivative of the barrier function at d.
+            )ipc_Qu8mg5v7")
+        .def(
+            "units", &Barrier::units, py::arg("dhat"),
+            R"ipc_Qu8mg5v7(
+            Get the units of the barrier function.
+
+            Parameters:
+                dhat: Activation distance of the barrier.
+
+            Returns:
+                The units of the barrier function.
+            )ipc_Qu8mg5v7");
 
     py::class_<ClampedLogBarrier, Barrier, std::shared_ptr<ClampedLogBarrier>>(
-        m, "ClampedLogBarrier")
+        m, "ClampedLogBarrier",
+        "Smoothly clamped log barrier functions from [Li et al. 2020].")
         .def(py::init());
 
     m.def(

src/ipc/barrier/barrier.hpp

@@ -21,7 +21,7 @@ class Barrier {
     /// @brief Evaluate the first derivative of the barrier function wrt d.
     /// @param d Distance.
     /// @param dhat Activation distance of the barrier.
-    /// @retur The value of the first derivative of the barrier function at d.
+    /// @return The value of the first derivative of the barrier function at d.
     virtual double
     first_derivative(const double d, const double dhat) const = 0;
 
@@ -34,7 +34,7 @@ class Barrier {
 
     /// @brief Get the units of the barrier function.
     /// @param dhat The activation distance of the barrier.
-    /// @return The units of the barrier function.
+    /// @return
     virtual double units(const double dhat) const = 0;
 };