Merge branch 'master' of gitlab.com:ArmarX/Navigation

source/Navigation/libraries/core/events.h

@@ -11,35 +11,61 @@
 namespace armarx::nav::core
 {
 
+    /**
+     * @brief Event describing that the targeted goal was successfully reached.
+     */
     struct GoalReachedEvent
     {
         core::Pose pose;
     };
 
+    /**
+     * @brief Event describing that a user-defined waypoint was successfully reached.
+     */
     struct WaypointReachedEvent
     {
         core::Pose pose;
         int waypointId;
     };
 
+    /**
+     * @brief Event desciribing that a significant safety throttling factor was reached.
+     *
+     * Can be configured.
+     */
     struct SafetyThrottlingTriggeredEvent
     {
         core::Pose pose;
+
+        /**
+         * @brief Ratio of throttled velocity divided by desired velocity.
+         *
+         * Value between 0 and 1 where 0 means full stop and 1 full desired velocity without any throttling.
+         */
         float throttlingFactor = 1.0;
         // TODO: Direction where safety-critical obstacle is (or range or whatever...).
     };
 
+    /**
+     * @brief Event describing that for security reasons, the robot was stopped completely.
+     */
     struct SafetyStopTriggeredEvent
     {
         core::Pose pose;
         // TODO: Direction where safety-critical obstacle is (or range or whatever...).
     };
 
+    /**
+     * @brief Event describing that the user aborted the current execution.
+     */
     struct UserAbortTriggeredEvent
     {
         core::Pose pose;
     };
 
+    /**
+     * @brief Event describing the occurance of an internal unhandled error.
+     */
     struct InternalErrorEvent
     {
         core::Pose pose;