Index: trunk/doc/Flair/classflair_1_1filter_1_1_trajectory_generator1_d.html
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--- trunk/doc/Flair/classflair_1_1filter_1_1_trajectory_generator1_d.html	(revision 47)
+++ trunk/doc/Flair/classflair_1_1filter_1_1_trajectory_generator1_d.html	(revision 50)
@@ -141,7 +141,7 @@
 <tr class="memdesc:a90da7cbae745b5a2a8e52641f4b1d481"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a90da7cbae745b5a2a8e52641f4b1d481">More...</a><br /></td></tr>
 <tr class="separator:a90da7cbae745b5a2a8e52641f4b1d481"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ab682c3574b7a050bd65475ce00d03a16"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#ab682c3574b7a050bd65475ce00d03a16">StartTraj</a> (float start_pos, float end_pos)</td></tr>
-<tr class="memdesc:ab682c3574b7a050bd65475ce00d03a16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Start trajectory.  <a href="#ab682c3574b7a050bd65475ce00d03a16">More...</a><br /></td></tr>
-<tr class="separator:ab682c3574b7a050bd65475ce00d03a16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f61b22433b9ad621d22a9f12517a26"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a94f61b22433b9ad621d22a9f12517a26">StartTraj</a> (float startPosition, float endPosition, float startVelocity=0)</td></tr>
+<tr class="memdesc:a94f61b22433b9ad621d22a9f12517a26"><td class="mdescLeft">&#160;</td><td class="mdescRight">Start trajectory.  <a href="#a94f61b22433b9ad621d22a9f12517a26">More...</a><br /></td></tr>
+<tr class="separator:a94f61b22433b9ad621d22a9f12517a26"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a28cc21dac02612396c4be5af97c87b2b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a28cc21dac02612396c4be5af97c87b2b">StopTraj</a> (void)</td></tr>
 <tr class="memdesc:a28cc21dac02612396c4be5af97c87b2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stop trajectory.  <a href="#a28cc21dac02612396c4be5af97c87b2b">More...</a><br /></td></tr>
@@ -187,4 +187,7 @@
 <tr class="memdesc:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send the output to a shared memory.  <a href="#a12d811c6926fb86da6b47f889109da66">More...</a><br /></td></tr>
 <tr class="separator:a12d811c6926fb86da6b47f889109da66 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#aee7828ae2eece2bace8e476dacc2bc12">IsReady</a> (void) const </td></tr>
+<tr class="memdesc:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">is device ready  <a href="#aee7828ae2eece2bace8e476dacc2bc12">More...</a><br /></td></tr>
+<tr class="separator:aee7828ae2eece2bace8e476dacc2bc12 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a75e82ca2ae2fb7c39d973dd3d16bc698 inherit pub_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75e82ca2ae2fb7c39d973dd3d16bc698"></a>
 virtual <a class="el" href="classflair_1_1core_1_1_data_type.html">DataType</a> const &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>GetInputDataType</b> () const </td></tr>
@@ -241,9 +244,12 @@
 <tr class="memdesc:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the childs of type <a class="el" href="classflair_1_1core_1_1_i_o_device.html" title="Abstract class for input/ouput system. ">IODevice</a>, and log if needed.  <a href="#a3df9057ae23eb34f1b1dae8e7a4a9efc">More...</a><br /></td></tr>
 <tr class="separator:a3df9057ae23eb34f1b1dae8e7a4a9efc inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_i_o_device.html#a120fdcc3d50f6f076084cb6943fdf412">SetIsReady</a> (bool status)</td></tr>
+<tr class="memdesc:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="mdescLeft">&#160;</td><td class="mdescRight">set is ready  <a href="#a120fdcc3d50f6f076084cb6943fdf412">More...</a><br /></td></tr>
+<tr class="separator:a120fdcc3d50f6f076084cb6943fdf412 inherit pro_methods_classflair_1_1core_1_1_i_o_device"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>Class generating a trajectory in 1D. </p>
 <p>This class generates position and velocity references, given an absolute maximum velocity and an absolute acceleration. <br />
- When trajectory is started (see <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#ab682c3574b7a050bd65475ce00d03a16" title="Start trajectory. ">StartTraj()</a>), position and velocity will increase at the given acceleration. If the maximum velocity is reached, velocity will not increase anymore. Then, velocity will decrease according to the given acceleration until velocity is null and final position is reached. <br />
+ When trajectory is started (see <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a94f61b22433b9ad621d22a9f12517a26" title="Start trajectory. ">StartTraj()</a>), position and velocity will increase at the given acceleration. If the maximum velocity is reached, velocity will not increase anymore. Then, velocity will decrease according to the given acceleration until velocity is null and final position is reached. <br />
  Manual inputs can be introduced using <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a81d60661d67c3c01a357e14489b3e59e" title="Set position offset. ">SetPositionOffset()</a> and <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a58f86c717fed6e84b22684e881837d2b" title="Set speed offset. ">SetSpeedOffset()</a>. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
@@ -310,5 +316,5 @@
 </div>
 <h2 class="groupheader">Member Function Documentation</h2>
-<a class="anchor" id="ab682c3574b7a050bd65475ce00d03a16"></a>
+<a class="anchor" id="a94f61b22433b9ad621d22a9f12517a26"></a>
 <div class="memitem">
 <div class="memproto">
@@ -318,5 +324,5 @@
           <td>(</td>
           <td class="paramtype">float&#160;</td>
-          <td class="paramname"><em>start_pos</em>, </td>
+          <td class="paramname"><em>startPosition</em>, </td>
         </tr>
         <tr>
@@ -324,5 +330,11 @@
           <td></td>
           <td class="paramtype">float&#160;</td>
-          <td class="paramname"><em>end_pos</em>&#160;</td>
+          <td class="paramname"><em>endPosition</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>startVelocity</em> = <code>0</code>&#160;</td>
         </tr>
         <tr>
@@ -337,6 +349,7 @@
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramname">start_pos</td><td>start position </td></tr>
-    <tr><td class="paramname">end_pos</td><td>end position </td></tr>
+    <tr><td class="paramname">startPosition</td><td>start position </td></tr>
+    <tr><td class="paramname">endPosition</td><td>end position </td></tr>
+    <tr><td class="paramname">startVelocity</td><td>start velocity, should be actual velocity. This value will be saturated max velocity defined in GCS. </td></tr>
   </table>
   </dd>
@@ -464,5 +477,5 @@
 
 <p>Update using provided datas. </p>
-<p>Uses values specified by <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#ab682c3574b7a050bd65475ce00d03a16" title="Start trajectory. ">StartTraj()</a>, <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a81d60661d67c3c01a357e14489b3e59e" title="Set position offset. ">SetPositionOffset()</a> and <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a58f86c717fed6e84b22684e881837d2b" title="Set speed offset. ">SetSpeedOffset()</a>.</p>
+<p>Uses values specified by <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a94f61b22433b9ad621d22a9f12517a26" title="Start trajectory. ">StartTraj()</a>, <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a81d60661d67c3c01a357e14489b3e59e" title="Set position offset. ">SetPositionOffset()</a> and <a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html#a58f86c717fed6e84b22684e881837d2b" title="Set speed offset. ">SetSpeedOffset()</a>.</p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
@@ -535,5 +548,5 @@
   <ul>
     <li class="navelem"><a class="el" href="namespaceflair.html">flair</a></li><li class="navelem"><a class="el" href="namespaceflair_1_1filter.html">filter</a></li><li class="navelem"><a class="el" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">TrajectoryGenerator1D</a></li>
-    <li class="footer">Generated on Tue Jan 17 2017 09:52:31 for Flair by
+    <li class="footer">Generated on Wed May 31 2017 13:50:37 for Flair by
     <a href="http://www.doxygen.org/index.html">
     <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.9.1 </li>
