From 94a88193ea07befc79ffd3577ee8237e56bb6328 Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Thu, 13 Aug 2015 15:38:56 +0200
Subject: [PATCH] Documentation: Improved RobotAPI overview

---
 etc/doxygen/images/sensoractorunits.svg       |  4 +++
 etc/doxygen/images/sensoractorunits2.svg      |  4 +++
 etc/doxygen/pages/GuiPlugins.dox              |  2 +-
 etc/doxygen/pages/Overview.dox                | 28 +++++++++++++++++--
 .../RobotIKGuiPlugin.h                        |  5 ----
 5 files changed, 34 insertions(+), 9 deletions(-)
 create mode 100644 etc/doxygen/images/sensoractorunits.svg
 create mode 100644 etc/doxygen/images/sensoractorunits2.svg

diff --git a/etc/doxygen/images/sensoractorunits.svg b/etc/doxygen/images/sensoractorunits.svg
new file mode 100644
index 000000000..19bdf5b56
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+++ b/etc/doxygen/images/sensoractorunits.svg
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+
diff --git a/etc/doxygen/pages/GuiPlugins.dox b/etc/doxygen/pages/GuiPlugins.dox
index 44c38e278..d04378063 100644
--- a/etc/doxygen/pages/GuiPlugins.dox
+++ b/etc/doxygen/pages/GuiPlugins.dox
@@ -1,3 +1,3 @@
 /**
- * \defgroup RobotAPI-GuiPlugins GUI Plugins
+ * \defgroup RobotAPI-ArmarXGuiPlugins GUI Plugins
  */
diff --git a/etc/doxygen/pages/Overview.dox b/etc/doxygen/pages/Overview.dox
index 62c04cdb0..a976faf4b 100644
--- a/etc/doxygen/pages/Overview.dox
+++ b/etc/doxygen/pages/Overview.dox
@@ -1,9 +1,31 @@
 /**
 \page RobotAPI-Overview RobotAPI Overview
+\brief &nbsp;
 
-\brief The RobotAPI package provides a robot-intependent API that other ArmarX packages can use for accessing central functionality of a robot.
+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.
+The RobotAPI package contains base classes for Sensor-Actor Units for different purposes, e.g. KinematicUnit for sensors and actors related to robotic joints.
+Concrete Sensor-Actor Units inherit from these base classes in order to provide a common interface.
+Each type of hardware and each type of simulation environment requires a distinct set of Sensor-Actor Units that handle the hardware/simulator access, e.g. KinematicUnitArmar3 and KinematicUnitArmar4 for accessing the kinematic elements of ARMAR-III and ARMAR-4, respectively:
 
-Central aspects of RobotAPI include:
+\image html sensoractorunits2.svg "Inheritance diagram for Sensor-Actor Units"
+
+There are three ways to access Sensor-Actor Units:
+- Direct access via the unit's interface, e.g. KinematicUnitInterface. See the \link RobotAPI-SensorActorUnits list of Sensor-Actor Units\endlink.
+
+- Indirect access via a corresponding \link RobotAPI-SensorActorUnits-observers Observer\endlink.
+An Observer is a component that corresponds to a Sensor-Actor Unit.
+It monitors the continuous sensor value stream propagated by the unit and applies registered conditions to the sensor data.
+Each condition evauating to true causes the Observer to fire a dedicated event (\link Observers Read more\endlink).
+
+- Indirect access via the RobotStateComponent.
+The RobotStateComponent maintains a Simox representation of the robot synchronized with the available Sensor-Actor Units, particularly with the KinematicUnit (\link RobotAPI-Components Read more\endlink).
+
+\image html sensoractorunits.svg "Inheritance diagram for Sensor-Actor Units"
+
+
+Further documentation on the various contents of the RobotAPI package:
 
 \par Intelligent Coordinates
 RobotAPI provides datatypes for intelligent coordinates that refer to a robot coordinate frame and can be conveniently transformed between different frames.
@@ -32,5 +54,5 @@ Available GUI-plugins provide access to the kinematic robot state, end effectors
 RobotAPI also provides a GUI-plugin for robot visualization.
 
 \par
-\link RobotAPI-GuiPlugins Read more \endlink
+\link RobotAPI-ArmarXGuiPlugins Read more \endlink
 */
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
index f446cd7f7..42a42436f 100644
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
@@ -63,11 +63,6 @@ namespace armarx
             }
     };
 
-    /**
-     * \class RobotIKWidget
-     * \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
-     * \brief Widget for IK computation.
-     */
     class RobotIKWidgetController : public ArmarXComponentWidgetController
     {
         Q_OBJECT
-- 
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