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etc/doxygen/images/NJointControllerDataFlow_Graph.xml

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etc/doxygen/images/NJointControllerWorkerThreadDataFlow_Graph.xml

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source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h

@@ -187,6 +187,13 @@ namespace armarx
     *
     * \image html NJointControllerTripleBufferDataFlow.svg "Dataflow in a NJointController using a triple buffer for communication between RT and NonRT"
     *
+    *
+    * \image html NJointControllerDataFlow_Graph.svg "Dataflow in a NJointController as a Graph of the two participating domains"
+    * The above image shows the two participating domains: one RT thread and multiple ICE threads.
+    * If data has to flow along an arrow, you need some construct for non blocking message passing.
+    *
+    * \warning If you use \ref TrippleBuffer "TrippleBuffers" or \ref WriteBufferedTrippleBuffer "WriteBufferedTrippleBuffers" you need a separate one for each arrow.
+    *
     * \section expensivework How to do expensive calculations
     * You have to execute expensive calculations in a different worker thread.
     * This thread could calculate target values at its own speed (e.g. 100 Hz).
@@ -201,6 +208,12 @@ namespace armarx
     *
     * \image html NJointControllerWorkerThreadDataFlow.svg "Dataflow in a NJointController using a worker thread"
     *
+    * \image html NJointControllerWorkerThreadDataFlow_Graph.svg "Dataflow in a NJointController using a worker thread as a Graph of the three participating domains"
+    * The above image shows the three participating domains: one RT thread, one worker trhead and multiple ICE threads.
+    * If data has to flow along an arrow, you need some construct for non blocking message passing.
+    *
+    * \warning If you use \ref TrippleBuffer "TrippleBuffers" or \ref WriteBufferedTrippleBuffer "WriteBufferedTrippleBuffers" you need a separate one for each arrow.
+    *
     * \section nj-ctor-gui Providing a gui for controller construction.
     * By implementing these functions:
     * \code{.cpp}
@@ -217,6 +230,8 @@ namespace armarx
     *
     * \section Examples
     *
+    * More examples can be found in the Tutorials Package
+    *
     * \subsection nj-example-1 A simple pass Position controller
     * \note The code can be found in the Tutorial package
     *