diff --git a/etc/doxygen/pages/Overview.dox b/etc/doxygen/pages/Overview.dox
index 76cc4c81c6a7db355125acb0c09af1efc264e4d3..0674f2b8497ba3c52106cab461f8ab5323062de4 100644
--- a/etc/doxygen/pages/Overview.dox
+++ b/etc/doxygen/pages/Overview.dox
@@ -1,7 +1,5 @@
/**
\page RobotAPI-Overview RobotAPI Overview
-\brief
-
The RobotAPI package provides a robot-intependent API that other ArmarX packages can use for accessing central functionality of a robot.
The central elements of RobotAPI are Sensor-Actor Units, i.e. components responsible for the propagation of sensor values and actor targets.
Sensor-Actor Units work as a link between higher level ArmarX components and the actual robot hardware or a robot simulation environment, respectively.
@@ -58,6 +56,8 @@ RobotAPI also provides a GUI-plugin for robot visualization.
\defgroup RobotAPI RobotAPI
+\copydoc RobotAPI-Overview
-\defgroup RobotAPI-statecharts Statecharts
+\defgroup RobotAPI-Statecharts Statecharts
+\ingroup RobotAPI
*/
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 0c57b98a956885a13171d7c76ee8af8af89f8319..2abeca70fde546d75fa6c8324ab9da975db54923 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,6 +1,4 @@
-add_subdirectory(MMMScenario)
-
add_subdirectory(KinematicSimulationArmar3)
add_subdirectory(tests)
diff --git a/scenarios/MMMScenario/CMakeLists.txt b/scenarios/MMMScenario/CMakeLists.txt
deleted file mode 100644
index 14a51ca63854220bb4e611fbced631dcf5661e5b..0000000000000000000000000000000000000000
--- a/scenarios/MMMScenario/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-set(SCENARIO_CONFIG_COMPONENTS
- config/MMMPlayerApp.cfg
- )
-
-# optional 3rd parameter: "path/to/global/config.cfg"
-armarx_scenario_from_configs("MMMScenario" "${SCENARIO_CONFIG_COMPONENTS}" "config/global.cfg")
diff --git a/scenarios/MMMScenario/config/MMMPlayerApp.cfg b/scenarios/MMMScenario/config/MMMPlayerApp.cfg
deleted file mode 100644
index 49a06df94b78546bb804deb9ece1637b02308b8d..0000000000000000000000000000000000000000
--- a/scenarios/MMMScenario/config/MMMPlayerApp.cfg
+++ /dev/null
@@ -1,175 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.EnableProfiling = 0
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
-# Attributes:
-# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DependenciesConfig = ./config/dependencies.cfg
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.MMMPlayer properties
-# ==================================================================
-
-# ArmarX.MMMPlayer.Kp: Proportional gain value of PID Controller
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.Kp = 1
-
-
-# ArmarX.MMMPlayer.Kd: Differential gain value of PID Controller
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.Kd = 0
-
-
-# ArmarX.MMMPlayer.UsePIDController: Specify whether the PID Controller should be used
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-ArmarX.MMMPlayer.UsePIDController = 1
-
-
-# ArmarX.MMMPlayer.LoopPlayback: Specify whether should be repeated after execution
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.MMMPlayer.LoopPlayback = 1
-
-
-# ArmarX.MMMPlayer.KinematicTopicName: Name of the KinematicUnit reporting topic
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.MMMPlayer.KinematicTopicName = AllState
-
-
-# ArmarX.MMMPlayer.KinematicUnitName: Name of the KinematicUnit to which the joint values should be sent
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.MMMPlayer.KinematicUnitName = KinematicUnitArmar4
-
-
-# ArmarX.MMMPlayer.FPS: FPS with which the recording should be executed. Velocities will be adapted.
-# Attributes:
-# - Default: 100
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.FPS = 100
-
-
-# ArmarX.MMMPlayer.MMMFile: Path to MMM XML File
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.MMMPlayer.MMMFile = /home/SMBAD/marek/Dokumente/Daten/point_at_left03_armar4.xml
-
-
-# ArmarX.MMMPlayer.EnableProfiling: enable profiler which is used for logging performance events
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.MMMPlayer.EnableProfiling = 0
-
-
-# ArmarX.MMMPlayer.Ki: Integral gain value of PID Controller
-# Attributes:
-# - Default: 9.99999975e-06
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.Ki = 9.99999975e-06
-ArmarX.MMMPlayer.absMaximumVelocity = 1000000
-ArmarX.MMMPlayer.RobotNodeSetName = AllState
-
-
-# ArmarX.MMMPlayer.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.MMMPlayer.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.MMMPlayer.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.MMMPlayer.ObjectName = ""
-
-
-
diff --git a/scenarios/MMMScenario/config/global.cfg b/scenarios/MMMScenario/config/global.cfg
deleted file mode 100644
index ac68157eaa025deca2b5c7063b7e5690f759b8cf..0000000000000000000000000000000000000000
--- a/scenarios/MMMScenario/config/global.cfg
+++ /dev/null
@@ -1,12 +0,0 @@
-ArmarX.DisableLogging = no
-VisionX.DisableLogging = no
-
-ArmarX.GlobalMinimumLoggingLevel = Verbose
-#MemoryX.Verbosity = Debug
-VisionX.Verbosity = Verbose
-
-RobotConfig.RobotFileName=Armar4/robotmodel/Armar4.xml
-#RobotConfig.RobotName=Armar4
-RobotConfig.AgentName=Armar4
-RobotConfig.RobotNodeSetName=All
-#RobotConfig.PlatformName=Platform
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index 0ccd7836f79902f2cabe4021d8e89adeda37c606..6b31222ef1e726cbe7de04b32f0e708a3d057bc0 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -63,7 +63,7 @@ public:
};
/*!
- * \class DebugDrawerComponent
+ * \defgroup Component-DebugDrawerComponent DebugDrawerComponent
* \ingroup RobotAPI-Components
* \brief Visualizes debug information.
*
@@ -94,6 +94,11 @@ public:
}
\endcode
*/
+
+/**
+ * @brief The DebugDrawerComponent class
+ * @ingroup Component-DebugDrawerComponent
+ */
class DebugDrawerComponent :
virtual public armarx::DebugDrawerInterface,
virtual public Component
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index e3c8db3ea6b38a78b4ce81b6abfe8ace93f5538e..6e74c02c23ab540f26c7c318a131b0f78e38584a 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -56,7 +56,7 @@ namespace armarx
/**
- * \class RobotStateComponent
+ * \defgroup Component-RobotStateComponent RobotStateComponent
* \ingroup RobotAPI-Components
* \brief Maintains a robot representation based on VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
*
@@ -71,6 +71,11 @@ namespace armarx
* to calculate on the same values.
* See \ref armarx::RemoteRobot "RemoteRobot" for more details and the usage of this component.
*/
+
+ /**
+ * @brief The RobotStateComponent class
+ * @ingroup Component-RobotStateComponent
+ */
class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
virtual public Component,
virtual public RobotStateComponentInterface
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index cff51585f49e312ce5034a8881dec38ba4705fdf..ba01ebe81ef083154b73f054396f66fa3199dae9 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -41,10 +41,10 @@ namespace armarx {
/**
* @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
- *
+ * @ingroup Component-RobotStateComponent
* @details This class is used only internally by the the RobotStateComponent. Other classes such as the LinkedPose, RemoteRobot,
* TCPControlUnit and HeadIKUnit classes address this class by the SharedRobotNodeInterface and SharedRobotNodeInterfacePrx generated by
- * ICE.
+ * Ice.
*/
class SharedRobotNodeServant :
virtual public SharedRobotNodeInterface,
@@ -81,6 +81,7 @@ namespace armarx {
};
/**
+ * @ingroup Component-RobotStateComponent
* @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
*
* @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index 947a4b60431ec9731130476dd58e65d0a706d670..fbe8b41b701a59f3b468ef7ba05fabebd28ddd18 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -54,7 +54,7 @@ namespace armarx
};
/**
- * \class ForceTorqueUnit
+ * \defgroup Component-ForceTorqueUnit ForceTorqueUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for force/torque sensors.
*
@@ -63,6 +63,11 @@ namespace armarx
* RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
* Other (hardware related) implementations of this unit can be found in the respective ArmarX projects.
*/
+
+ /**
+ * @ingroup Component-ForceTorqueUnit
+ * @brief The ForceTorqueUnit class
+ */
class ForceTorqueUnit :
virtual public ForceTorqueUnitInterface,
virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index d68c4f5f7f6002ca722ae4a55c2c016f7a528dde..6bc729ddc7442585926aeaeffe4c73cdcbcd6581 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -60,7 +60,7 @@ namespace armarx
/**
- * \class HandUnit
+ * @ingroup Component-HandUnit HandUnit
* \brief Base unit for high-level access to robot hands.
* \ingroup RobotAPI-SensorActorUnits
*
@@ -68,6 +68,11 @@ namespace armarx
* It uses the HandUnitListener Ice interface to report updates of its current state
*
*/
+
+ /**
+ * @brief The HandUnit class
+ * @ingroup Component-HandUnit
+ */
class HandUnit :
virtual public HandUnitInterface,
virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index a5837e80024d9afece25ba2e8334ba81b7a32175..e3aefb2e7eca0579541804d5faad3fc64cc8acf9 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -49,10 +49,15 @@ namespace armarx
};
/**
- * \class HapticUnit
+ * \defgroup Component-HapticUnit HapticUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for haptic sensors.
*/
+
+ /**
+ * @ingroup Component-HapticUnit
+ * @brief The HapticUnit class
+ */
class HapticUnit :
virtual public HapticUnitInterface,
virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 4147362a57b1e3e1aa3daf38ac8de0ff415dc363..81dcee3eef24784aca6922bd032f0d208b605208 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -53,10 +53,15 @@ namespace armarx
};
/**
- * \class HeadIKUnit
+ * \defgroup Component-HeadIKUnit HeadIKUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Unit for controlling a robot head via IK targets.
*/
+
+ /**
+ * @ingroup Component-HeadIKUnit
+ * @brief The HeadIKUnit class
+ */
class HeadIKUnit : virtual public Component, virtual public HeadIKUnitInterface
{
public:
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index a82b5f800bd04f303764fc76bb33e2173657a56c..e91ef47c346be52b73d4ea0dd8aa1487042b2628 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -55,7 +55,7 @@ namespace armarx
/**
- * \class KinematicUnit
+ * \defgroup Component-KinematicUnit KinematicUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for kinematic sensors and actors.
*
@@ -65,6 +65,11 @@ namespace armarx
* The KinematicUnit retrieves its configuration from a VirtualRobot robot model. Within the model, the joints, the unit
* controls are defined with a RobotNodeSet.
*/
+
+ /**
+ * @ingroup Component-KinematicUnit
+ * @brief The KinematicUnit class
+ */
class KinematicUnit :
virtual public KinematicUnitInterface,
virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 1d46043a134842fcb8415ac86d126f828852aa05..8d2b53baa04461d0f856a7cee4faa6c808c00c38 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -51,7 +51,7 @@ namespace armarx
/**
- * \class PlatformUnit
+ * \defgroup Component-PlatformUnit PlatformUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for high-level access to robot platforms.
*
@@ -59,6 +59,11 @@ namespace armarx
* An instance of a PlatformUnit provides means to set target positions.
* It uses the PlatformUnitListener Ice interface to report updates of its current state.
*/
+
+ /**
+ * @ingroup Component-PlatformUnit
+ * @brief The PlatformUnit class
+ */
class PlatformUnit :
virtual public PlatformUnitInterface,
virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 616dadbedcd18579392e6f973fc16e68093a9f1a..96b5a5dfe7fe281ab019eb7f902626f3c635bea2 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -58,7 +58,7 @@ namespace armarx
};
/**
- * \class TCPControlUnit
+ * \defgroup Component-TCPControlUnit TCPControlUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Unit for controlling a tool center point (TCP).
*
@@ -75,6 +75,11 @@ namespace armarx
*
* \note After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
*/
+
+ /**
+ * @ingroup Component-TCPControlUnit
+ * @brief The TCPControlUnit class
+ */
class TCPControlUnit :
virtual public Component,
virtual public TCPControlUnitInterface