DebugDrawer documentation

source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h

@@ -46,7 +46,7 @@
 namespace armarx{
 
 /*!
- * \class ArmarXPhysicsWorldPropertyDefinitions
+ * \class DebugDrawerPropertyDefinitions
  * \brief
  */
 class DebugDrawerPropertyDefinitions:
@@ -61,7 +61,44 @@ public:
     }
 };
 
-
+/*!
+ * \brief The DebugDrawerComponent class implements a component that listens to layered / debug drawer commands and creates internal representations of the visualization
+ * which can be conveniently used by gui components to visualize the content.
+ *
+ * An exemplary usage looks like this:
+\verbatim
+DebugDrawerInterfacePrx prxDD = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
+if (prxDD)
+{
+    // draw in global coordinate system
+    Eigen::Matrix4f p;
+    p.setIdentity();
+    p(2,3) = 1000.0f;
+    PosePtr gp(new Pose(p));
+    prxDD->setPoseDebugLayerVisu("testPose",gp);
+
+    armarx::Vector3Ptr p1(new armarx::Vector3());
+    p1->x = 0;
+    p1->y = 0;
+    p1->z = 0;
+    armarx::Vector3Ptr p2(new armarx::Vector3());
+    p2->x = 1000.0f;
+    p2->y = 1000.0f;
+    p2->z = 1000.0f;
+
+    armarx::DrawColor c;
+    c.r = 1.0f;
+    c.g = 0;
+    c.b = 0;
+        c.a = 1;
+    prxDD->setLineDebugLayerVisu("testLine", p1, p2, 2.0f, c);
+}
+\endverbatim
+ *
+ * The following plugins listen to the DebugDrawer topic:
+ * \see armarx::SimulatorControlGuiPlugin
+ * \see memoryx::WorkingMemoryGuiPlugin
+ */
 class DebugDrawerComponent :
         virtual public armarx::DebugDrawerInterface,
         virtual public Component