Add doxygen

source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h

@@ -96,11 +96,16 @@ namespace armarx
          * @brief runs the active Joint Controller and write the target values into the control device
          * @param sensorValuesTimestamp
          * @param timeSinceLastIteration
-         * @see writeTargetValues()
+         * @see writeTargetValues
          */
         void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
 
-        virtual void rtWriteTargetValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+        /**
+         * @brief This is a hook for implementations to write the setpoints to a bus.
+         * @param sensorValuesTimestamp The timestamp of the current \ref SensorValueBase "SensorValues"
+         * @param timeSinceLastIteration The time delta between the last two updates of \ref SensorValueBase "SensorValues"
+         */
+        virtual void rtWriteTargetValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
     protected:
         /**
          * @brief adds the Joint controller to this ControlDevice
@@ -110,10 +115,15 @@ namespace armarx
         void addJointController(JointController* jointCtrl);
     private:
         friend class RobotUnitModule::Devices;
+        /// @brief The owning \ref RobotUnit. (is set when this \ref SensorDevice is added to the \ref RobotUnit)
         std::atomic<RobotUnitModule::Devices*> owner;
+        /// @brief The \ref JointController "JointControllers" managed by this \ref ControlDevice
         KeyValueVector<std::string, JointController*> jointControllers;
+        /// @brief The currently executed \ref JointController
         JointController* activeJointController {nullptr};
+        /// @brief This \ref ControlDevice "ControlDevice's" emergency stop controller
         JointController* jointEmergencyStopController {nullptr};
+        /// @brief This \ref ControlDevice "ControlDevice's" stop movement controller
         JointController* jointStopMovementController {nullptr};
     };
 }
@@ -175,7 +185,5 @@ namespace armarx
     {
         return jointControllers.keys();
     }
-
-    inline void ControlDevice::rtWriteTargetValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
 }
 

source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h

@@ -40,6 +40,20 @@ namespace armarx
         using namespace DeviceTags;
     }
 
+    /**
+     * @brief This class represents some part of the robot providing sensor values.
+     *
+     * The \ref SensorValueBase "SensorValue" is accessed via \ref getSensorValue.
+     *
+     * A \ref SensorDevice could also represent a virtual sensor reporting some status of the software
+     * (e.g. Timings):
+     * Examples for \ref SensorValueBase "Sensorvalues" are:
+     * \li Position, Velocity, Torque, Current, Temperature of an actuator
+     * \li Forces and Torques of an Force-Torque-Sensor
+     * \li Timings of the \ref ControlThread
+     * \li Level of a battery power supply
+     * \li 3d Velocity of a mobile Platform
+     */
     class SensorDevice: public virtual DeviceBase
     {
     public:
@@ -51,16 +65,28 @@ namespace armarx
         /// @return The SensorDevice's sensor value
         virtual const SensorValueBase* getSensorValue() const = 0;
 
+        /**
+         * @brief Returns the \ref SensorValueBase "SensorValue's" type as a string.
+         * @param withoutNamespaceSpecifier Whether namespace specifiers should be removed from the name.
+         * @return The \ref SensorValueBase "SensorValues" type as a string.
+         * @see getSensorValue
+         */
         std::string getSensorValueType(bool withoutNamespaceSpecifier = false) const;
 
         /// @return The reporting frame name of this sensor (e.g. The frame some force torque values are in).
         /// This may be empty for virtual sensors e.g. execution time sensors.
         virtual std::string getReportingFrame() const;
 
-        virtual void rtReadSensorValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+        /**
+         * @brief This is a hook for implementations to read the sensor value from a bus.
+         * @param sensorValuesTimestamp The current timestamp
+         * @param timeSinceLastIteration The time delta since the last call
+         */
+        virtual void rtReadSensorValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
 
     private:
         friend class RobotUnitModule::Devices;
+        /// @brief The owning \ref RobotUnit. (is set when this \ref SensorDevice is added to the \ref RobotUnit)
         std::atomic<RobotUnitModule::Devices*> owner;
     };
 
@@ -90,8 +116,6 @@ namespace armarx
         return {};
     }
 
-    inline void SensorDevice::rtReadSensorValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
-
     template<class SensorValueType>
     inline const SensorValueType* SensorDeviceTemplate<SensorValueType>::getSensorValue() const
     {