Documentation: Simulation units

etc/doxygen/pages/5.Components.dox

@@ -30,7 +30,7 @@ Sensor-Actor Units implement a corresponding Ice interface which makes them acce
 
 \defgroup RobotAPI-SensorActorUnits-simulation Sensor-Actor Unit Simulations
 \ingroup RobotAPI-Components
-\brief Simulated Sensor-Actor Units not connected to any hardware.
+\brief Simulated Sensor-Actor Units do not connected to any hardware.
 
 
 \defgroup RobotAPI-SensorActorUnits-observers Sensor-Actor Unit Observers

source/RobotAPI/components/units/ForceTorqueUnitSimulation.h

@@ -37,8 +37,8 @@
 namespace armarx
 {
     /**
-     * @class ForceTorqueUnitSimulationPropertyDefinitions
-     * @brief
+     * \class ForceTorqueUnitSimulationPropertyDefinitions
+     * \brief
      */
     class ForceTorqueUnitSimulationPropertyDefinitions :
             public ForceTorqueUnitPropertyDefinitions
@@ -53,11 +53,10 @@ namespace armarx
     };
 
     /**
-     * @class ForceTorqueUnitSimulation
-     * @brief
-     * @ingroup RobotAPI-SensorActorUnits-simulation
+     * \class ForceTorqueUnitSimulation
+     * \brief Simulates a set of Force/Torque sensors.
+     * \ingroup RobotAPI-SensorActorUnits-simulation
      *
-     * Simulates a set of Force/Torque sensors.
      * The unit is given a list of sensor names as a property. It then publishes force/torque values under these names.
      * The published values will always be zero.
      */
@@ -65,7 +64,6 @@ namespace armarx
         virtual public ForceTorqueUnit
     {
     public:
-        // inherited from Component
         virtual std::string getDefaultName() const
         {
             return "ForceTorqueUnitSimulation";
@@ -76,11 +74,19 @@ namespace armarx
         virtual void onExitForceTorqueUnit();
 
         void simulationFunction();
+
+        /**
+         * \warning Not implemented yet
+         */
         virtual void setOffset(const FramedDirectionBasePtr &forceOffsets, const FramedDirectionBasePtr &torqueOffsets, const Ice::Current& c = ::Ice::Current());
+
+        /**
+         * \warning Not implemented yet
+         */
         virtual void setToNull(const Ice::Current& c = ::Ice::Current());
 
         /**
-         * @see PropertyUser::createPropertyDefinitions()
+         * \see PropertyUser::createPropertyDefinitions()
          */
         virtual PropertyDefinitionsPtr createPropertyDefinitions();
 
@@ -89,8 +95,6 @@ namespace armarx
         armarx::FramedDirectionPtr torques;
 
         PeriodicTask<ForceTorqueUnitSimulation>::pointer_type simulationTask;
-
-
     };
 }
 

source/RobotAPI/components/units/HandUnitSimulation.h

@@ -30,8 +30,8 @@
 namespace armarx
 {
     /**
-     * @class HandUnitSimulationPropertyDefinitions
-     * @brief Defines all necessary properties for armarx::HandUnitSimulation
+     * \class HandUnitSimulationPropertyDefinitions
+     * \brief Defines all necessary properties for armarx::HandUnitSimulation
      */
     class HandUnitSimulationPropertyDefinitions:
             public ComponentPropertyDefinitions
@@ -47,13 +47,14 @@ namespace armarx
 
 
     /**
-     * @class HandUnitSimulation
-     * @brief This class defines an interface for providing high level access to robot hands
-     * @ingroup RobotAPI-SensorActorUnits-simulation
+     * \class HandUnitSimulation
+     * \ingroup RobotAPI-SensorActorUnits-simulation
+     * \brief Simulates a robot hand.
      *
      * An instance of a HandUnitSimulation provides means to open, close, and shape hands.
      * It uses the HandUnitListener Ice interface to report updates of its current state
      *
+     * \warning This component is not yet fully functional
      */
     class HandUnitSimulation :
         virtual public HandUnit
@@ -65,25 +66,20 @@ namespace armarx
             return "HandUnitSimulation";
         }
 
-        /**
-         *
-         */
         virtual void onInitHandUnit();
-        /**
-         *
-         */
         virtual void onStartHandUnit();
-        /**
-         *
-         */
         virtual void onExitHandUnit();
 
-
-
         /**
          * Send command to the hand to form a specific shape position.
+         *
+         * \warning Not implemented yet!
          */
         virtual void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
+
+        /**
+         * \warning Not implemented yet!
+         */
         virtual void setJointAngles(const NameValueMap& jointAngles, const Ice::Current& c = ::Ice::Current());
 
     };

source/RobotAPI/components/units/KinematicUnitSimulation.h

@@ -35,12 +35,12 @@
 namespace armarx
 {
     /**
-     * @class JointState.
-     * @brief State of a joint.
-     * @ingroup RobotAPI-SensorActorUnits-util
+     * \class JointState.
+     * \brief State of a joint.
+     * \ingroup RobotAPI-SensorActorUnits-util
      *
-     * Includes the control mode, the joint angle, velocitym torquem and motor temperature.
-     * Controlmode defaults to ePositionControl. All other values to zero.
+     * Includes the control mode, the joint angle, velocity, torque, and motor temperature.
+     * Controlmode defaults to ePositionControl, all other values default to zero.
      */
     class JointState
     {
@@ -60,20 +60,20 @@ namespace armarx
         }
 
         ControlMode controlMode;
-        float       angle;
-        float       velocity;
-        float       torque;
-        float       temperature;
+        float angle;
+        float velocity;
+        float torque;
+        float temperature;
     };
     typedef std::map<std::string, JointState> JointStates;
 
-
     /**
-     * @class JointInfo.
-     * @brief
-     * @ingroup RobotAPI-SensorActorUnits-util
+     * \class JointInfo.
+     * \brief Additional information about a joint.
+     * \ingroup RobotAPI-SensorActorUnits-util
      *
-     * Joint info including lower and upper joint limits (rad). No limits set by default (lo=hi).
+     * Joint info including lower and upper joint limits (rad).
+     * No limits are set by default (lo = hi).
      */
     class JointInfo
     {
@@ -99,8 +99,8 @@ namespace armarx
     typedef std::map<std::string, JointInfo> JointInfos;
 
     /**
-     * @class KinematicUnitSimulationPropertyDefinitions
-     * @brief
+     * \class KinematicUnitSimulationPropertyDefinitions
+     * \brief
      */
     class KinematicUnitSimulationPropertyDefinitions :
             public KinematicUnitPropertyDefinitions
@@ -115,9 +115,9 @@ namespace armarx
     };
 
     /**
-     * @class KinematicUnitSimulation
-     * @brief
-     * @ingroup RobotAPI-SensorActorUnits-simulation
+     * \class KinematicUnitSimulation
+     * \brief Simulates robot kinematics
+     * \ingroup RobotAPI-SensorActorUnits-simulation
      */
     class KinematicUnitSimulation :
         virtual public KinematicUnit
@@ -139,12 +139,21 @@ namespace armarx
         virtual void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = ::Ice::Current());
         virtual void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = ::Ice::Current());
         virtual void setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c = ::Ice::Current());
+
+        /**
+         * \warning Not implemented yet!
+         */
         virtual void setJointAccelerations(const NameValueMap& targetJointAccelerations, const Ice::Current& c = ::Ice::Current());
+
+        /**
+         * \warning Not implemented yet!
+         */
         virtual void setJointDecelerations(const NameValueMap& targetJointDecelerations, const Ice::Current& c = ::Ice::Current());
+
         void stop(const Ice::Current &c = Ice::Current());
 
         /**
-         * @see PropertyUser::createPropertyDefinitions()
+         * \see PropertyUser::createPropertyDefinitions()
          */
         virtual PropertyDefinitionsPtr createPropertyDefinitions();
 

source/RobotAPI/components/units/PlatformUnitSimulation.h

@@ -36,8 +36,8 @@
 namespace armarx
 {
     /**
-     * @class PlatformUnitSimulationPropertyDefinitions
-     * @brief
+     * \class PlatformUnitSimulationPropertyDefinitions
+     * \brief
      */
     class PlatformUnitSimulationPropertyDefinitions :
             public PlatformUnitPropertyDefinitions
@@ -57,9 +57,9 @@ namespace armarx
     };
 
     /**
-     * @class PlatformUnitSimulation
-     * @brief
-     * @ingroup RobotAPI-SensorActorUnits-simulation
+     * \class PlatformUnitSimulation
+     * \brief Simulates a robot platform.
+     * \ingroup RobotAPI-SensorActorUnits-simulation
      */
     class PlatformUnitSimulation :
         virtual public PlatformUnit
@@ -80,11 +80,17 @@ namespace armarx
 
         // proxy implementation
         void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current());
+
+        /**
+         * \warning Not yet implemented!
+         */
         void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current &c = Ice::Current());
+
         void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current &c = Ice::Current());
         void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current &c = Ice::Current());
+
         /**
-         * @see PropertyUser::createPropertyDefinitions()
+         * \see PropertyUser::createPropertyDefinitions()
          */
         virtual PropertyDefinitionsPtr createPropertyDefinitions();