diff --git a/etc/doxygen/images/TCPMoverGUI.png b/etc/doxygen/images/TCPMoverGUI.png
new file mode 100644
index 0000000000000000000000000000000000000000..20547a239b77dbc5566412d2bf164242183b6521
Binary files /dev/null and b/etc/doxygen/images/TCPMoverGUI.png differ
diff --git a/etc/doxygen/pages/Components.dox b/etc/doxygen/pages/Components.dox
index 023de80200bd3c6cbcadd9a163710562f4305b11..d5aa5901c10c8f836bee1dde0bd6f52d1aa323f1 100644
--- a/etc/doxygen/pages/Components.dox
+++ b/etc/doxygen/pages/Components.dox
@@ -1,5 +1,5 @@
/**
-\addtogroup Components 5. Components
+\addtogroup Components Components
\defgroup RobotAPI-Components RobotAPI Components
\ingroup RobotAPI Components
diff --git a/etc/doxygen/pages/GuiPlugins.dox b/etc/doxygen/pages/GuiPlugins.dox
index d0437806374394b843bbc93e5dde4fe7c6ceb88b..83a4ed21313f345c1a659f8a3980cca98f6ad8be 100644
--- a/etc/doxygen/pages/GuiPlugins.dox
+++ b/etc/doxygen/pages/GuiPlugins.dox
@@ -1,3 +1,19 @@
/**
- * \defgroup RobotAPI-ArmarXGuiPlugins GUI Plugins
- */
+\page RobotAPI-GuiPlugins GUI Plugins
+
+The following Gui Plugins are available:
+
+\subpage RobotAPI-GuiPlugins-ArmarXPlotter
+
+\subpage RobotAPI-GuiPlugins-TCPMover
+
+\subpage RobotAPI-GuiPlugins-HandUnitWidget
+
+\subpage RobotAPI-GuiPlugins-HapticUnitPlugin
+
+\subpage RobotAPI-GuiPlugins-KinematicUnitPlugin
+
+\subpage RobotAPI-GuiPlugins-PlatformUnitPlugin
+
+\subpage RobotAPI-GuiPlugins-RobotViewerPlugin
+*/
diff --git a/etc/doxygen/pages/Overview.dox b/etc/doxygen/pages/Overview.dox
index a976faf4b486e31edff6e5c2025172fe3cbc2a8b..76cc4c81c6a7db355125acb0c09af1efc264e4d3 100644
--- a/etc/doxygen/pages/Overview.dox
+++ b/etc/doxygen/pages/Overview.dox
@@ -54,5 +54,10 @@ Available GUI-plugins provide access to the kinematic robot state, end effectors
RobotAPI also provides a GUI-plugin for robot visualization.
\par
-\link RobotAPI-ArmarXGuiPlugins Read more \endlink
+\link RobotAPI-GuiPlugins Read more \endlink
+
+
+\defgroup RobotAPI RobotAPI
+
+\defgroup RobotAPI-statecharts Statecharts
*/
diff --git a/etc/doxygen/pages/armarpose.dox b/etc/doxygen/pages/armarpose.dox
index 983134d4fcbd15d731f208208a6905139f1e408c..f4cb6eb1eb1303cb0cdea4111e39c1f53acafce4 100644
--- a/etc/doxygen/pages/armarpose.dox
+++ b/etc/doxygen/pages/armarpose.dox
@@ -36,7 +36,7 @@ So an example code for creating a new FramedPosition looks like this:
armarx::FramedPositionPtr position = new armarx::FramedPosition(pos, frame, agentName);
\endcode
-\section FramedPose-ChangeFrame Change the frame of an FramedPosition
+\section FramedPose-ChangeFrame Change the frame of a FramedPosition
In ArmarX the most common coordinate type is the FramedX, e.g. FramedPosition.
To change the frame in this coordinate type, you can call \ref armarx::FramedPosition::changeFrame "changeFrame()" on the FramedPosition.
You need to know the new frame, in which you want to have the
diff --git a/etc/doxygen/pages/mainpage.dox b/etc/doxygen/pages/mainpage.dox
index 9e9610cf535d0feb6df572525e4be6f46f0af12b..367b9a764ffa42ef8ef0307a713201b1d01ebb26 100644
--- a/etc/doxygen/pages/mainpage.dox
+++ b/etc/doxygen/pages/mainpage.dox
@@ -1,3 +1,4 @@
+/**
\mainpage
RobotAPI description
@@ -11,4 +12,4 @@ RobotAPI description
\li \subpage RobotAPI-GuiPlugins "RobotAPI Gui Plugins"
\li \subpage RobotAPI-About "RobotAPI About"
\li \subpage RobotAPI-License "RobotAPI License"
-
+*/
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 931d4713d853d750836129f5c221a937819efa84..60f53f01f0655418790f5a3c4ccb7fd47f3f5f7d 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -61,7 +61,7 @@ namespace armarx
};
/*!
- * \class HandUnitWidget
+ * \page RobotAPI-GuiPlugins-HandUnitWidget HandUnitGuiPlugin
* \brief With this widget the HandUnit can be controlled.
* \image html HandUnitGUI.png
* You can either select a preshape from the drop-down-menu on top or set each
@@ -71,9 +71,6 @@ namespace armarx
* Parameter Name | Example Value | Required? | Description
* :---------------- | :-------------: | :-------------- |:--------------------
* Proxy | LeftHandUnit | Yes | The hand unit you want to control.
- *
- * \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- * \see HandUnitGuiPlugin
*/
class HandUnitWidget :
public ArmarXComponentWidgetController,
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index 21e5c7781931a923265e2308963e59c2c9e212ce..6b2a9f629030b4bdac48eb25393522a43de5a13c 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -45,12 +45,6 @@ namespace armarx
{
class HapticUnitConfigDialog;
- /*!
- \class HapticUnitGuiPlugin
- \brief This plugin provides a widget with which the HapticUnit can be controlled.
-
- \see HapticUnitWidget
- */
class HapticUnitGuiPlugin :
public ArmarXGuiPlugin
{
@@ -63,11 +57,8 @@ namespace armarx
};
/*!
- \class HapticUnitWidget
+ \page RobotAPI-GuiPlugins-HapticUnitPlugin HapticUnitPlugin
\brief With this widget the HapticUnit can be controlled.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see HapticUnitGuiPlugin
*/
class HapticUnitWidget :
public ArmarXComponentWidgetController
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 8dae7b5fbc3d11f821f4c44b2669b5515a02649d..2b93b13f8e78ffd05920750c85bee3548027872b 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -85,7 +85,8 @@ namespace armarx
};
/*!
- \class KinematicUnitWidget
+ \page RobotAPI-GuiPlugins-KinematicUnitPlugin KinematicUnitPlugin
+
\brief This widget shows position and velocity of all joints. Optionally a 3d robot model can be visualized.
\image html KinematicUnitGUI.png
@@ -103,9 +104,6 @@ namespace armarx
On the top you can select the joint you wish to control and the control mode. You can control
a joint with the slider below.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see KinematicUnitGuiPlugin
*/
class KinematicUnitWidgetController :
public ArmarXComponentWidgetController,
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index fa3eb342696cda65373f76af1f7000fbe7e6b380..162846e8efa06f2cb8f89a89f0c77a57a34be556 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -61,7 +61,7 @@ namespace armarx
};
/*!
- \class PlatformUnitWidget
+ \page RobotAPI-GuiPlugins-PlatformUnitPlugin PlatformUnitPlugin
\brief With this widget the PlatformUnit can be controlled.
\image html PlatformUnitGUI.png "The plugin's ui." width=300px
@@ -76,8 +76,6 @@ namespace armarx
:---------------- | :-------------: | :-------------- |:--------------------
PlatformUnit - Proxy | PlatformUnit | Yes | The name of the platform unit.
Platform | Platform | Yes | The name of the platform.
- \see PlatformUnitGuiPlugin
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
*/
class PlatformUnitWidget :
public ArmarXComponentWidgetController,
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index e2e9cfac544dd2a5ac3154f455a49bb1b1ea8d29..d879a300af440cee7c9114dc8d9f5367f9517f33 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -73,7 +73,8 @@ namespace armarx
};
/**
- \class RobotViewerWidget
+ \page RobotAPI-GuiPlugins-RobotViewerPlugin RobotViewerPlugin
+
\brief This widget shows a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
Further, DebugDrawer methods are available.
\image html RobotViewerGUI.png
@@ -82,9 +83,6 @@ namespace armarx
Parameter Name | Example Value | Required? | Description
:---------------- | :-------------: | :-------------- |:--------------------
Proxy | RobotStateComponent | Yes | The name of the robot state component.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see RobotViewerGuiPlugin
*/
class RobotViewerWidgetController :
public ArmarXComponentWidgetController
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
index d8d9e76f4cd324ce21dcd412dc735fe1ace21b71..6481b595372fc4c36bc34ede6aec7d5e67474fa2 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -63,7 +63,7 @@ namespace armarx
class ArmarXPlotterDialog;
/*!
- * \class ArmarXPlotter
+ * \page RobotAPI-GuiPlugins-ArmarXPlotter ArmarXPlotter
* \brief The plotter widget allows the user to plot any sensor channel.
* \image html PlotterGUI.png
* A sensor channel can be selected for plotting by clicking the wrench button at the bottom.
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
index c566dae489cd5dab15ac7fba9d2fcf678fe3f5a4..0de853b9f60c63ae2b35a3b0af26955276d03e51 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
@@ -69,10 +69,12 @@ namespace armarx {
};*/
- /*
- * @brief The TCPMover widget...
- * @ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- */
+ /**
+ * \page RobotAPI-GuiPlugins-TCPMover TCPMoverPlugin
+ * @brief The TCPMover widget allows direct control of a TCP.
+ *
+ * \image html TCPMoverGUI.png
+ */
class TCPMover :
public ArmarXComponentWidgetController
{