Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h

@@ -79,6 +79,38 @@ namespace armarx
 
     /**
      * @brief Provides a simple joystick control.
+     *
+     * The widget emits signals when the control is moved.
+     *
+     * The signal
+     * @code{.cpp}
+     * positionChanged(QPointF)
+     * @endcode
+     * passes the nibble's current position.
+     * The position is in the unit circle.
+     * The x-axis is horizontal and increases to the right.
+     * The y-axis is vertical and increases upwards.
+     *
+     * The signal
+     * @code{.cpp}
+     * rotationChanged(double)
+     * @endcode
+     * passes the position vectors rotation in polar coordinates (-pi,pi].
+     * The up position is 0.
+     * The down position is pi.
+     * The Quadrants 1 and 4 have positive value.
+     *
+     * If the constructor is called with useQuadrant3and4==true the control is the whole unit circle.
+     * If the constructor is called with useQuadrant3and4==false the control is the unit circle's upper semicircle. (y>=0)
+     *
+     * Possible positions can be influenced with
+     * \code{.cpp}
+     * setSteps(int steps);
+     * \endcode
+     *      - steps>0 : only position vectors with a length from {n/steps | n in {0,1,...,steps} are valid. The nibble snaps to a valid position.
+     *      - steps<=0: all positions in the unit circle are valid.
+     *
+     * @image html JoystickControlWidget_widget.png "Left: A widget with 2 steps using the whole unit circle. Right: A widget using the unit circle's upper semi circle." width=300px
      */
     class JoystickControlWidget : public QWidget
     {

source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h

@@ -69,6 +69,11 @@ namespace armarx
       \ingroup ArmarXGuiPlugins
 
       \see PlatformUnitGuiPlugin
+
+      \image html PlatformUnitGuiPlugin_widgetpng.png "The plugin's ui." width=300px
+            -# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
+            -# A joystick like control widget to move the platform. It has two speed level. The platform does not rotate to move in a direction. Up moves the platform forward.
+            -# A joystick like control widget to rotate the platform.
       */
     class PlatformUnitWidget :
             public ArmarXComponentWidgetController,