diff --git a/etc/doxygen/pages/5.Components.dox b/etc/doxygen/pages/5.Components.dox
index 8d47f77d4e13b92b200861ad6a7f832a4935ba16..b076255b458833746ada7e9e9fc082d4b7f6ae26 100644
--- a/etc/doxygen/pages/5.Components.dox
+++ b/etc/doxygen/pages/5.Components.dox
@@ -7,4 +7,30 @@
Components are the main building blocks of ArmarX and offer services to other applications via Ice.
Each component usually implements an interface through which it can be accessed.
+
+There are several types of special components:
+
+\li *Sensor-Actor Units* provide access to certain hardware modalities like sensors or actors.
+
+\li *Base Sensor-Actor Units* provide a base class for the implementation of Sensor-Actor Units, defining a common interface.
+ The ForceTorqueUnit itself for instance is a base class for unit implementations like ForceTorqueUnitSimulation or ForceTorqueUnitArmar4.
+
+\li *Simulated Sensor-Actor Units* are Sensor-Actor Units that do not connect to any hardware, but simulate sensors and actors.
+
+\li *Observers* monitor values published by Sensor-Actor Units and fire events based on installed conditions.
+ There has to be a specific observer implementation for each base unit.
+
+
+\defgroup RobotAPI-SensorActorUnits-simulation Sensor-Actor Unit Simulations
+\ingroup RobotAPI-Components
+Basic simulation implementations of the interfaces that do not consider any physical laws.
+
+\defgroup RobotAPI-SensorActorUnits-observers Sensor-Actor Unit Observers
+\ingroup RobotAPI-Components
+Almost any Sensor-Actor Unit has an observer, that observes the sensor value of this unit and
+provides datafields for the sensor data. All unit observers implement the \ref armarx::Observer interface.
+
+\defgroup RobotAPI-SensorActorUnits-util Utilities
+\ingroup RobotAPI-Components
+Utility and helper classes associated with Sensor-Actor Units.
*/
diff --git a/etc/doxygen/pages/SensorActorUnits.dox b/etc/doxygen/pages/SensorActorUnits.dox
index 4cd152181b2de5ca262f1b345db4dd75c7904ccb..147a15e14db7f05b27f84d086403d1c3705a2aa5 100644
--- a/etc/doxygen/pages/SensorActorUnits.dox
+++ b/etc/doxygen/pages/SensorActorUnits.dox
@@ -1,29 +1,10 @@
/**
- \defgroup RobotAPI-SensorActorUnits Sensor-Actor Unit
- \ingroup RobotAPI-Components
+\defgroup RobotAPI-SensorActorUnits Sensor-Actor Unit
+\ingroup RobotAPI-Components
- * @brief Sensor-Actor Units are Armarx \ref armarx::Component "Components" that communicate usually directly with their
- * associated hardware and feed the topic for their connected \ref armarx::Observer. They always implement
- * an Ice interface to be reachable via Ice. The Ice interface is always tailored to the hardware
- * which they represent, PlatformUnitInterface, KinematicUnitInterface etc.
- *
+\brief Sensor-Actor Units are components that provide an interface to an associated hardware device.
- @li Receive control data through Ice remote procedure calls (e.g. setTargetJointAngles(...)) @see armarx::KinematicUnit
- @li Publish sensor data through Ice topics @see \ref RobotAPI-SensorActorUnits-observers, \ref Observers
-
-
- \defgroup RobotAPI-SensorActorUnits-simulation Sensor-Actor Unit Simulations
- \ingroup RobotAPI-Components
- Basic simulation implementations of the interfaces that do not consider any physical laws.
-
- \defgroup RobotAPI-SensorActorUnits-observers Sensor-Actor Unit Observers
- \ingroup RobotAPI-Components
- Almost any Sensor-Actor Unit has an observer, that observes the sensor value of this unit and
- provides datafields for the sensor data. All unit observers implement the \ref armarx::Observer interface.
-
- \defgroup RobotAPI-SensorActorUnits-util Utilities
- \ingroup RobotAPI-Components
- Utility and helper classes associated with Sensor-Actor Units.
+Sensor-Actor Units implement a corresponding Ice interface which makes them accessible for other running components.
*/
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.cpp b/source/RobotAPI/components/units/BusInspectionUnit.cpp
index 1593dc07596745abdbd755a18d84bdcbfe5b0f9e..20506415423cfeba683533a9d2b4d267c5694e46 100644
--- a/source/RobotAPI/components/units/BusInspectionUnit.cpp
+++ b/source/RobotAPI/components/units/BusInspectionUnit.cpp
@@ -72,11 +72,6 @@ DeviceInformation BusInspectionUnit::getDeviceInformation(const std::string& dev
return *(new DeviceInformation);
}
-//int BusInspectionUnit::performBasicOperation( BasicOperation& operation, const std::string &device, const Ice::Current& c) {
-
-// return 0;
-//}
-
Ice::Int BusInspectionUnit::performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c)
{
return 0;
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.h b/source/RobotAPI/components/units/BusInspectionUnit.h
index f89c39a730d751cb08bcce1d9ba4bc8efafef6f8..e0983a4c2b1f5a18f29d82bb89274de31e898f73 100644
--- a/source/RobotAPI/components/units/BusInspectionUnit.h
+++ b/source/RobotAPI/components/units/BusInspectionUnit.h
@@ -32,58 +32,64 @@
#include <RobotAPI/interface/hardware/BusInspectionInterface.h>
-namespace armarx {
-
- class BusInspectionUnitPropertyDefinitions:
+namespace armarx
+{
+ /**
+ * \class BusInspectionUnitPropertyDefinitions
+ * \brief
+ */
+ class BusInspectionUnitPropertyDefinitions:
public ComponentPropertyDefinitions
- {
- public:
- BusInspectionUnitPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
-
- //defineRequiredProperty<std::string>("RobotNodeSetName","Robot node name");
- //defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
- }
- };
-
-class BusInspectionUnit :
- virtual public BusInspectionInterface, virtual public Component
{
- public:
- // inherited from Component
- virtual std::string getDefaultName() const { return "BusInspectionUnit"; }
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- virtual void onInitBusInspectionUnit() = 0;
- virtual void onConnectBusInspectionUnit() = 0;
- virtual void onExitBusInspectionUnit() = 0;
-
- virtual BusNames getConfiguredBusses( const Ice::Current& c = ::Ice::Current());
- virtual BusInformation getBusInformation(const std::string &bus, const Ice::Current& c = ::Ice::Current());
- virtual DeviceNames getDevicesOnBus(const std::string &bus, const Ice::Current& c = ::Ice::Current());
- virtual DeviceInformation getDeviceInformation(const std::string &device, const Ice::Current& c = ::Ice::Current());
-
- virtual Ice::Int performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c = ::Ice::Current());
- virtual Ice::Int performBusOperation(BasicOperation operation, const std::string &bus, const Ice::Current& c = ::Ice::Current());
- virtual bool isInRealTimeMode(const Ice::Current& c = ::Ice::Current());
-
- //virtual int performBasicOperation(BasicOperation &operation, const std::string &device, const Ice::Current& c = ::Ice::Current());
- virtual std::string sendCommand(const std::string &command, Ice::Int device, const Ice::Current& c = ::Ice::Current());
-
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- std::string channel;
- BusInspectionInterfacePrx busInspectionValuePrx; // gets commands from hardware
-
+ public:
+ BusInspectionUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ }
};
+
+ /**
+ * \class BusInspectionUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Provides information about connected hardware devices.
+ *
+ * BusInspectionUnit is the base class of a unit that allows the introspection of a connected bus system.
+ */
+ class BusInspectionUnit :
+ virtual public BusInspectionInterface, virtual public Component
+ {
+ public:
+ // inherited from Component
+ virtual std::string getDefaultName() const { return "BusInspectionUnit"; }
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ virtual void onInitBusInspectionUnit() = 0;
+ virtual void onConnectBusInspectionUnit() = 0;
+ virtual void onExitBusInspectionUnit() = 0;
+
+ virtual BusNames getConfiguredBusses( const Ice::Current& c = ::Ice::Current());
+ virtual BusInformation getBusInformation(const std::string &bus, const Ice::Current& c = ::Ice::Current());
+ virtual DeviceNames getDevicesOnBus(const std::string &bus, const Ice::Current& c = ::Ice::Current());
+ virtual DeviceInformation getDeviceInformation(const std::string &device, const Ice::Current& c = ::Ice::Current());
+
+ virtual Ice::Int performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c = ::Ice::Current());
+ virtual Ice::Int performBusOperation(BasicOperation operation, const std::string &bus, const Ice::Current& c = ::Ice::Current());
+ virtual bool isInRealTimeMode(const Ice::Current& c = ::Ice::Current());
+
+ virtual std::string sendCommand(const std::string &command, Ice::Int device, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ std::string channel;
+ BusInspectionInterfacePrx busInspectionValuePrx; // gets commands from hardware
+
+ };
}
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index c87a582e81b17632abdc593aef6b41df7b160662..b239859437bddfcc6538b61a8cf7460d7fb9ca2c 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -36,6 +36,10 @@
namespace armarx
{
+ /**
+ * \class ForceTorqueUnitPropertyDefinitions
+ * \brief
+ */
class ForceTorqueUnitPropertyDefinitions : public ComponentPropertyDefinitions
{
public:
@@ -51,8 +55,10 @@ namespace armarx
};
/**
- * @class ForceTorqueUnit
- * @ingroup RobotAPI-SensorActorUnits
+ * \class ForceTorqueUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Base unit for force/torque sensors.
+ *
* The ForceTorqueUnit class is the base unit for force/torque sensors.
* It implements the ForceTorqueUnit-interface and is responsible for distributing F/T sensor-values in ArmarX.
* RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 21a361db30077647635b53b0a2ecd3ea3498cfe0..db2c3d6b13bf837ee2158aec4f80561f387f8650 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -44,8 +44,8 @@ namespace VirtualRobot
namespace armarx
{
/**
- * @class HandUnitPropertyDefinitions
- * @brief Defines all necessary properties for armarx::HandUnit
+ * \class HandUnitPropertyDefinitions
+ * \brief Defines all necessary properties for armarx::HandUnit
*/
class HandUnitPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -61,9 +61,9 @@ namespace armarx
/**
- * @class HandUnit
- * @brief This class defines an interface for providing high level access to robot hands
- * @ingroup RobotAPI-SensorActorUnits
+ * \class HandUnit
+ * \brief Base unit for high-level access to robot hands.
+ * \ingroup RobotAPI-SensorActorUnits
*
* An instance of a HandUnit provides means to open, close, and preshape hands.
* It uses the HandUnitListener Ice interface to report updates of its current state
@@ -83,17 +83,17 @@ namespace armarx
/**
* Retrieve proxy for publishing State information and call
* armarx::PlatformUnit::onInitPlatformUnit().
- * @see armarx::Component::onInitComponent()
+ * \see armarx::Component::onInitComponent()
*/
virtual void onInitComponent();
/**
* Calls armarx::PlatformUnit::onStartPlatformUnit().
- * @see armarx::Component::onConnectComponent()
+ * \see armarx::Component::onConnectComponent()
*/
virtual void onConnectComponent();
/**
* Calls armarx::PlatformUnit::onExitPlatformUnit().
- * @see armarx::Component::onExitComponent()
+ * \see armarx::Component::onExitComponent()
*/
virtual void onExitComponent();
@@ -110,23 +110,13 @@ namespace armarx
*/
virtual void onExitHandUnit() = 0;
- /**
- * Send command to the hand to open all fingers.
- */
- //virtual void open(const Ice::Current& c = ::Ice::Current());
-
- /**
- * Send command to the hand to close all fingers.
- */
- //virtual void close(const Ice::Current& c = ::Ice::Current());
-
/**
* Send command to the hand to form a specific shape position. The shapes are defined in the robot.xml file.
*/
void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
/**
- * @return a list of strings for shape positions which can be used together with HandUnit::shape().
+ * \return a list of strings for shape positions which can be used together with HandUnit::shape().
*/
virtual SingleTypeVariantListBasePtr getShapeNames(const Ice::Current& c = ::Ice::Current());
@@ -137,7 +127,7 @@ namespace armarx
void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current &);
/**
- * @see armarx::PropertyUser::createPropertyDefinitions()
+ * \see armarx::PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index c98b866b4f80fb57d08ca45c4130058c8c37502f..012825f072f4678855aa7aa078a5878c7af7eb19 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -35,6 +35,10 @@
namespace armarx
{
+ /**
+ * \class HapticUnitPropertyDefinitions
+ * \brief
+ */
class HapticUnitPropertyDefinitions : public ComponentPropertyDefinitions
{
public:
@@ -45,10 +49,10 @@ namespace armarx
}
};
- /*!
- * @class HapticUnit
- * @ingroup RobotAPI-SensorActorUnits
- * \brief The HapticUnit class
+ /**
+ * \class HapticUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Base unit for haptic sensors.
*/
class HapticUnit :
virtual public HapticUnitInterface,
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index cd7385491822fcdc39fb150b81ae072efe9bb4b9..143150b61e98879b4985a995b0572ebb999644c8 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -36,8 +36,10 @@
namespace armarx
{
-
-
+ /**
+ * \class HeadIKUnitPropertyDefinitions
+ * \brief
+ */
class HeadIKUnitPropertyDefinitions:
public ComponentPropertyDefinitions
{
@@ -50,10 +52,10 @@ namespace armarx
}
};
- /*!
- * @class HeadIKUnit
- * @ingroup RobotAPI-SensorActorUnits
- * @brief The HeadIKUnit class
+ /**
+ * \class HeadIKUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Unit for controlling a robot head via IK targets.
*/
class HeadIKUnit : virtual public Component, virtual public HeadIKUnitInterface
{
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnit.h b/source/RobotAPI/components/units/InertialMeasurementUnit.h
index 11463c13ac4e88026cd18b349d009d078f393ed4..4cd2861f7fe30d61b7778f809f3261abd8e29bfc 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnit.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnit.h
@@ -33,8 +33,8 @@
namespace armarx
{
/**
- * @class InertialMeasurementUnitPropertyDefinitions
- * @brief
+ * \class InertialMeasurementUnitPropertyDefinitions
+ * \brief
*/
class InertialMeasurementUnitPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -48,11 +48,9 @@ namespace armarx
};
/**
- * @class InertialMeasurementUnit
- * @ingroup RobotAPI-SensorActorUnits
- * @brief A brief description
- *
- * Detailed Description
+ * \class InertialMeasurementUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Base unit for %IMU sensors.
*/
class InertialMeasurementUnit :
virtual public armarx::InertialMeasurementUnitInterface,
@@ -60,7 +58,7 @@ namespace armarx
{
public:
/**
- * @see armarx::ManagedIceObject::getDefaultName()
+ * \see armarx::ManagedIceObject::getDefaultName()
*/
virtual std::string getDefaultName() const
{
@@ -70,28 +68,28 @@ namespace armarx
protected:
/**
- * @see armarx::ManagedIceObject::onInitComponent()
+ * \see armarx::ManagedIceObject::onInitComponent()
*/
virtual void onInitComponent();
/**
- * @see armarx::ManagedIceObject::onConnectComponent()
+ * \see armarx::ManagedIceObject::onConnectComponent()
*/
virtual void onConnectComponent();
/**
- * @see armarx::ManagedIceObject::onDisconnectComponent()
+ * \see armarx::ManagedIceObject::onDisconnectComponent()
*/
virtual void onDisconnectComponent();
/**
- * @see armarx::ManagedIceObject::onExitComponent()
+ * \see armarx::ManagedIceObject::onExitComponent()
*/
virtual void onExitComponent();
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index af56852eef00bee23384f4f9602a1dfd1b43a2df..c39ddfe0caf601c3ed5dff88285964837f9fe634 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -38,8 +38,8 @@
namespace armarx
{
/**
- * @class KinematicUnitPropertyDefinitions
- * @brief
+ * \class KinematicUnitPropertyDefinitions
+ * \brief
*/
class KinematicUnitPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -55,8 +55,9 @@ namespace armarx
/**
- * @class KinematicUnit
- * @ingroup RobotAPI-SensorActorUnits
+ * \class KinematicUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Base unit for kinematic sensors and actors.
*
* KinematicUnits are SensorActorUnits which provide sensory data in terms of joints angles, joint velocities and joint forces.
* Further target joint angles and velocities can be controlled.
@@ -89,7 +90,7 @@ namespace armarx
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 60ecaf2fad195f4795050c90af5e2f84b9ae7bca..6252fe48e75e14493bbf3db9306134d78c2e508c 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -36,8 +36,8 @@
namespace armarx
{
/**
- * @class PlatformUnitPropertyDefinitions
- * @brief Defines all necessary properties for armarx::PlatformUnit
+ * \class PlatformUnitPropertyDefinitions
+ * \brief Defines all necessary properties for armarx::PlatformUnit
*/
class PlatformUnitPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -52,13 +52,13 @@ namespace armarx
/**
- * @class PlatformUnit
- * @brief This class defines an interface for providing high level access to robot platforms
- * @ingroup RobotAPI-SensorActorUnits
+ * \class PlatformUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Base unit for high-level access to robot platforms.
*
+ * This class defines an interface for providing high level access to robot platforms
* An instance of a PlatformUnit provides means to set target positions.
* It uses the PlatformUnitListener Ice interface to report updates of its current state.
- *
*/
class PlatformUnit :
virtual public PlatformUnitInterface,
@@ -74,35 +74,25 @@ namespace armarx
/**
* Retrieve proxy for publishing State information and call
* armarx::PlatformUnit::onInitPlatformUnit().
- * @see armarx::Component::onInitComponent()
+ * \see armarx::Component::onInitComponent()
*/
virtual void onInitComponent();
/**
* Calls armarx::PlatformUnit::onStartPlatformUnit().
- * @see armarx::Component::onConnectComponent()
+ * \see armarx::Component::onConnectComponent()
*/
virtual void onConnectComponent();
virtual void onDisconnectComponent();
/**
* Calls armarx::PlatformUnit::onExitPlatformUnit().
- * @see armarx::Component::onExitComponent()
+ * \see armarx::Component::onExitComponent()
*/
virtual void onExitComponent();
- /**
- *
- */
virtual void onInitPlatformUnit() = 0;
- /**
- *
- */
virtual void onStartPlatformUnit() = 0;
-
virtual void onStopPlatformUnit() {}
- /**
- *
- */
virtual void onExitPlatformUnit() = 0;
/**
@@ -114,7 +104,7 @@ namespace armarx
void stopPlatform(const Ice::Current &c = Ice::Current()){}
/**
- * @see armarx::PropertyUser::createPropertyDefinitions()
+ * \see armarx::PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/SensorActorUnit.h b/source/RobotAPI/components/units/SensorActorUnit.h
index d839a4563690748b1a80c0165c55c88537701e8f..7180ec22424c9417620b862540acdfa9bf790b6c 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.h
+++ b/source/RobotAPI/components/units/SensorActorUnit.h
@@ -33,9 +33,9 @@
namespace armarx
{
/**
- *
- * @ingroup RobotAPI-SensorActorUnits
- * Base Class for all ArmarX SensorActorUnits.
+ * \class SensorActorUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Base Class for SensorActorUnits.
*
* SensorActorUnits are ArmarX component which provide an actor API and a sensor data stream.
* The SensorActorUnit provides basic execution state handling and concurrent access handling.
@@ -59,7 +59,7 @@ namespace armarx
*
* Assures that init is called only once and the calls subclass method onInit().
*
- * @param c Ice context provided by the Ice framework
+ * \param c Ice context provided by the Ice framework
*/
virtual void init(const Ice::Current& c = ::Ice::Current());
@@ -71,7 +71,7 @@ namespace armarx
* Start can be called if the unit is initialized and not started yet (stopped).
* Calls subclass method inStart().
*
- * @param c Ice context provided by the Ice framework
+ * \param c Ice context provided by the Ice framework
*/
virtual void start(const Ice::Current& c = ::Ice::Current());
@@ -83,29 +83,29 @@ namespace armarx
* Stop can be called if the unit is started.
* Calls subclass method onStop()
*
- * @param c Ice context provided by the Ice framework
+ * \param c Ice context provided by the Ice framework
*/
virtual void stop(const Ice::Current& c = ::Ice::Current());
/**
* Retrieve current execution state
*
- * @param c Ice context provided by the Ice framework
- * @return current execution state
+ * \param c Ice context provided by the Ice framework
+ * \return current execution state
*/
UnitExecutionState getExecutionState(const Ice::Current& c = ::Ice::Current());
/**
* Request exclusive access to current unit. Throws ResourceUnavailableException on error.
*
- * @param c Ice context provided by the Ice framework
+ * \param c Ice context provided by the Ice framework
*/
virtual void request(const Ice::Current& c = ::Ice::Current());
/**
* Release exclusive access to current unit. Throws ResourceUnavailableException on error.
*
- * @param c Ice context provided by the Ice framework
+ * \param c Ice context provided by the Ice framework
*/
virtual void release(const Ice::Current& c = ::Ice::Current());
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 13506f6401f77d8f4e97096f2db464b7fccdf424..030891c76bf6b8e02d928317e07a3f168d746a4f 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -33,9 +33,12 @@
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
#include <Core/interface/observers/ObserverInterface.h>
-namespace armarx {
-
-
+namespace armarx
+{
+ /**
+ * \class TCPControlUnitPropertyDefinitions
+ * \brief
+ */
class TCPControlUnitPropertyDefinitions:
public ComponentPropertyDefinitions
{
@@ -55,9 +58,11 @@ namespace armarx {
};
/**
- * @class TCPControlUnit
- * @ingroup RobotAPI-SensorActorUnits
- * @brief This class implements the interface to control a node of a robot (e.g a TCP)
+ * \class TCPControlUnit
+ * \ingroup RobotAPI-SensorActorUnits
+ * \brief Unit for controlling a tool center point (TCP).
+ *
+ * This class implements the interface to control a node of a robot (e.g a TCP)
* in cartesian coordinates in velocity control mode. It takes velocities in mm/s for
* translations and rad/s for orientation. Several nodessets can be controlled simultaneously.
*
@@ -67,76 +72,72 @@ namespace armarx {
* updates the joint velocities. To set another cycle time use setCycleTime().
* To set the velocity for a node use setTCPVelocity. Calling setTCPVelocity again with another nodeset
* will add this nodeset to the list of currently controlled TCPs.
- * @node After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
+ *
+ * \note After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
*/
-
class TCPControlUnit :
virtual public Component,
virtual public TCPControlUnitInterface
-
{
public:
TCPControlUnit();
-
-
-
// TCPControlUnitInterface interface
/**
- * @brief Sets the cycle time with which the joint velocities are recalculated.
- * @param milliseconds New cycle time.
- * @param c Ice Context, leave blank.
+ * \brief Sets the cycle time with which the joint velocities are recalculated.
+ * \param milliseconds New cycle time.
+ * \param c Ice Context, leave blank.
*/
void setCycleTime(Ice::Int milliseconds, const Ice::Current &c = Ice::Current());
/**
- * @brief Sets the cartesian velocity of a node in a nodeset for translation and/or orientation.
+ * \brief Sets the cartesian velocity of a node in a nodeset for translation and/or orientation.
* It is best to provide the data in global coordinates. Otherwise the coordinates frame transformation is done in place
* on the current robot state, which might not be the same as when the command was given. Additionally, execution inaccurracies
* might propagate if local coordinate frames are used.
- * @param nodeSetName Nodeset that should be used for moving the node, i.e. tcp
- * @param tcpName Name of the VirtualRobot node that should be moved
- * @param translationVelocity Target cartesian translation velocity in mm/s, but might not be reached. If NULL the translation is ommitted in the calculation.
+ * \param nodeSetName Nodeset that should be used for moving the node, i.e. tcp
+ * \param tcpName Name of the VirtualRobot node that should be moved
+ * \param translationVelocity Target cartesian translation velocity in mm/s, but might not be reached. If NULL the translation is ommitted in the calculation.
* Thus the translation behaviour is undefined und the node/tcp position might change.
- * @param orientationVelocityRPY Target cartesian orientation velocity in rad/s in roll-pitch-yaw, but might not be reached. If NULL the orientation is ommitted in the calculation.
+ * \param orientationVelocityRPY Target cartesian orientation velocity in rad/s in roll-pitch-yaw, but might not be reached. If NULL the orientation is ommitted in the calculation.
* Thus the orientation behaviour is undefined und the node/tcp orientation might change.
- * @param c Ice Context, leave blank.
+ * \param c Ice Context, leave blank.
*
- * @see request(), release()
+ * \see request(), release()
*/
void setTCPVelocity(const std::string &nodeSetName, const std::string &tcpName, const::armarx::FramedDirectionBasePtr &translationVelocity, const::armarx::FramedDirectionBasePtr &orientationVelocityRPY, const Ice::Current &c = Ice::Current());
// UnitExecutionManagementInterface interface
/**
- * @brief Does not do anything at the moment.
- * @param c
+ * \brief Does not do anything at the moment.
+ * \param c
*/
void init(const Ice::Current &c = Ice::Current());
/**
- * @brief Does not do anything at the moment.
- * @param c
+ * \brief Does not do anything at the moment.
+ * \param c
*/
void start(const Ice::Current &c = Ice::Current());
/**
- * @brief Does not do anything at the moment.
- * @param c
+ * \brief Does not do anything at the moment.
+ * \param c
*/
void stop(const Ice::Current &c = Ice::Current());
UnitExecutionState getExecutionState(const Ice::Current &c = Ice::Current());
// UnitResourceManagementInterface interface
/**
- * @brief Triggers the calculation loop for using cartesian velocity. Call once before/after setting a tcp velocity with SetTCPVelocity.
- * @param c Ice Context, leave blank.
+ * \brief Triggers the calculation loop for using cartesian velocity. Call once before/after setting a tcp velocity with SetTCPVelocity.
+ * \param c Ice Context, leave blank.
*/
void request(const Ice::Current &c = Ice::Current());
/**
- * @brief Releases and stops the recalculation and updating of joint velocities.
+ * \brief Releases and stops the recalculation and updating of joint velocities.
* Call always when finished with cartesian control. The target velocity values of
* all node set will be deleted in this function.
- * @param c Ice Context, leave blank.
+ * \param c Ice Context, leave blank.
*/
void release(const Ice::Current &c = Ice::Current());