chore: More debug info, documentation.

source/RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.cpp

@@ -359,8 +359,8 @@ armarx::ObstacleAvoidingPlatformUnit::get_velocities()
     ARMARX_CHECK(modulated_vel.allFinite()) << "Velocity contains non-finite values.";
     ARMARX_CHECK(std::isfinite(target_rot_vel)) << "Rotation velocity is non-finite.";
 
-    ARMARX_DEBUG << "Target velocity:  " << target_vel.transpose() << "; " << target_rot_vel;
-    ARMARX_DEBUG << "Modulated velocity:  " << modulated_vel.transpose();
+    ARMARX_DEBUG << "Target velocity:  " << target_vel.transpose() << "; norm: " << target_vel.norm() << "; " << target_rot_vel;
+    ARMARX_DEBUG << "Modulated velocity:  " << modulated_vel.transpose() << modulated_vel.norm();
 
     const auto r = Eigen::Rotation2D(m_control_data.agent_ori).toRotationMatrix().inverse();
 
@@ -802,14 +802,16 @@ armarx::ObstacleAvoidingPlatformUnit::createPropertyDefinitions()
 
     // Settings.
     def->optional(m_control_data.adaptive_max_vel_exp, "adaptive_max_vel_exponent",
-                  "Adaptive max vel exponent.  0 = disable.");
+                  "Adaptive max vel exponent.  This throttles the max_vel adaptively "
+                  "depending on the angle between target velocity and modulated velocity.  "
+                  "0 = disable.");
 
     // Control parameters.
     def->optional(m_control_data.kp, "control.pos.kp");
     def->optional(m_rot_pid_controller.Kp, "control.rot.kp");
     def->optional(m_rot_pid_controller.Ki, "control.rot.ki");
     def->optional(m_rot_pid_controller.Kd, "control.rot.kd");
-    def->optional(m_control_loop.cycle_time, "control.pose.cycle_time");
+    def->optional(m_control_loop.cycle_time, "control.pose.cycle_time", "Control loop cycle time.");
 
     // Obstacle avoidance parameter.
     def->optional(m_control_data.agent_safety_margin, "doa.agent_safety_margin");