From cd5cfc2662e5fdcb7b30ff4f4dfb9cd7e33e0312 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 16 Nov 2012 15:20:13 +0000
Subject: [PATCH] Fixed some documentation
git-svn-id: https://svn.sfb588.uni-karlsruhe.de/svn/HumanoidRobotAPI@20 e7ad446d-f7d8-486a-9efb-df2f5bbea5c6
---
etc/doxygen/HumanoidRobotAPI.Doxyfile.in | 20 +-
etc/doxygen/layout/Doxygen.css | 634 +++++++++++++++---
.../MotionControlTest/MotionControlTestApp.h | 2 +-
.../motioncontrol/MotionControl.cpp | 30 +-
.../motioncontrol/MotionControl.h | 19 +-
5 files changed, 589 insertions(+), 116 deletions(-)
diff --git a/etc/doxygen/HumanoidRobotAPI.Doxyfile.in b/etc/doxygen/HumanoidRobotAPI.Doxyfile.in
index 6f90b1e3a..75cafd574 100644
--- a/etc/doxygen/HumanoidRobotAPI.Doxyfile.in
+++ b/etc/doxygen/HumanoidRobotAPI.Doxyfile.in
@@ -38,7 +38,7 @@ PROJECT_NUMBER =
# If a relative path is entered, it will be relative to the location
# where doxygen was started. If left blank the current directory will be used.
-OUTPUT_DIRECTORY = "@PROJECT_BUILD_DIR@"
+OUTPUT_DIRECTORY = "@PROJECT_BINARY_DIR@"
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
# 4096 sub-directories (in 2 levels) under the output directory of each output
@@ -515,8 +515,8 @@ WARN_LOGFILE =
# with spaces.
INPUT = "@PROJECT_SOURCE_DIR@/source" \
- "@PROJECT_DOCUMENTATION_PAGES_DIR@" \
- "@PROJECT_BUILD_DIR@/propertydocs.dox"
+ "@PROJECT_DOCUMENTATION_DIR@/doxygen" \
+ "@PROJECT_BINARY_DIR@/propertydocs.dox"
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
@@ -545,7 +545,7 @@ RECURSIVE = YES
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
-EXCLUDE =
+EXCLUDE =
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
# directories that are symbolic links (a Unix filesystem feature) are excluded
@@ -569,8 +569,8 @@ EXCLUDE_PATTERNS = moc* \
*/cmake/* \
*/config/* \
*/test/* \
-
-
+
+
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
# (namespaces, classes, functions, etc.) that should be excluded from the
@@ -578,7 +578,7 @@ EXCLUDE_PATTERNS = moc* \
# wildcard * is used, a substring. Examples: ANamespace, AClass,
# AClass::ANamespace, ANamespace::*Test
-EXCLUDE_SYMBOLS =
+EXCLUDE_SYMBOLS =
# The EXAMPLE_PATH tag can be used to specify one or more files or
# directories that contain example code fragments that are included (see
@@ -751,6 +751,10 @@ HTML_FOOTER = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/Footer.html
HTML_STYLESHEET = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/Doxygen.css
+# Customized layout
+
+LAYOUT_FILE = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/DoxygenLayout.xml
+
# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
# files or namespaces will be aligned in HTML using tables. If set to
# NO a bullet list will be used.
@@ -1170,7 +1174,7 @@ TAGFILES =
# When a file name is specified after GENERATE_TAGFILE, doxygen will create
# a tag file that is based on the input files it reads.
-GENERATE_TAGFILE = "@PROJECT_NAME@.tag"
+GENERATE_TAGFILE = "@PROJECT_DOCUMENTATION_HTML_OUTPUT_DIR@/@PROJECT_NAME@.tag"
# If the ALLEXTERNALS tag is set to YES all external classes will be listed
# in the class index. If set to NO only the inherited external classes
diff --git a/etc/doxygen/layout/Doxygen.css b/etc/doxygen/layout/Doxygen.css
index d932840e5..c7f9d7459 100755
--- a/etc/doxygen/layout/Doxygen.css
+++ b/etc/doxygen/layout/Doxygen.css
@@ -1,35 +1,81 @@
+/* The standard CSS for doxygen */
+
body, table, div, p, dl {
font-family: Lucida Grande, Verdana, Geneva, Arial, sans-serif;
- font-size: 14px;
+ font-size: 12px;
}
/* @group Heading Levels */
h1 {
- text-align: center;
font-size: 150%;
}
+.title {
+ font-size: 150%;
+ font-weight: bold;
+ margin: 10px 2px;
+}
+
h2 {
font-size: 120%;
}
+h2 ~ *:not(h2) {
+ margin-left: 10px;
+}
+
h3 {
font-size: 100%;
}
+dt {
+ font-weight: bold;
+}
+
+div.multicol {
+ -moz-column-gap: 1em;
+ -webkit-column-gap: 1em;
+ -moz-column-count: 3;
+ -webkit-column-count: 3;
+}
+
+p.startli, p.startdd, p.starttd {
+ margin-top: 2px;
+}
+
+p.endli {
+ margin-bottom: 0px;
+}
+
+p.enddd {
+ margin-bottom: 4px;
+}
+
+p.endtd {
+ margin-bottom: 2px;
+}
+
/* @end */
caption {
font-weight: bold;
}
+span.legend {
+ font-size: 70%;
+ text-align: center;
+}
+
+h3.version {
+ font-size: 90%;
+ text-align: center;
+}
+
div.qindex, div.navtab{
- background-color: #e8eef2;
- border: 1px solid #84b0c7;
+ background-color: #EBEFF6;
+ border: 1px solid #A3B4D7;
text-align: center;
- margin: 2px;
- padding: 2px;
}
div.qindex, div.navpath {
@@ -44,13 +90,13 @@ div.navtab {
/* @group Link Styling */
a {
- color: #153788;
+ color: #3D578C;
font-weight: normal;
text-decoration: none;
}
.contents a:visited {
- color: #1b77c5;
+ color: #4665A2;
}
a:hover {
@@ -63,9 +109,9 @@ a.qindex {
a.qindexHL {
font-weight: bold;
- background-color: #6666cc;
+ background-color: #9CAFD4;
color: #ffffff;
- border: 1px double #9295C2;
+ border: 1px double #869DCA;
}
.contents a.qindexHL:visited {
@@ -80,9 +126,11 @@ a.elRef {
}
a.code {
+ color: #4665A2;
}
a.codeRef {
+ color: #4665A2;
}
/* @end */
@@ -97,10 +145,14 @@ dl.el {
}
pre.fragment {
- border: 1px solid #CCCCCC;
- background-color: #f5f5f5;
+ border: 1px solid #C4CFE5;
+ background-color: #FBFCFD;
padding: 4px 6px;
margin: 4px 8px 4px 2px;
+ overflow: auto;
+ word-wrap: break-word;
+ font-size: 9pt;
+ line-height: 125%;
}
div.ah {
@@ -108,13 +160,22 @@ div.ah {
font-weight: bold;
color: #ffffff;
margin-bottom: 3px;
- margin-top: 3px
+ margin-top: 3px;
+ padding: 0.2em;
+ border: solid thin #333;
+ border-radius: 0.5em;
+ -webkit-border-radius: .5em;
+ -moz-border-radius: .5em;
+ box-shadow: 2px 2px 3px #999;
+ -webkit-box-shadow: 2px 2px 3px #999;
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+ background-image: -webkit-gradient(linear, left top, left bottom, from(#eee), to(#000),color-stop(0.3, #444));
+ background-image: -moz-linear-gradient(center top, #eee 0%, #444 40%, #000);
}
div.groupHeader {
margin-left: 16px;
margin-top: 12px;
- margin-bottom: 6px;
font-weight: bold;
}
@@ -124,29 +185,34 @@ div.groupText {
}
body {
- background: white;
+ background-color: white;
color: black;
- margin-right: 20px;
- margin-left: 20px;
+ margin: 0;
+}
+
+div.contents {
+ margin-top: 10px;
+ margin-left: 8px;
+ margin-right: 8px;
}
td.indexkey {
- background-color: #e8eef2;
+ background-color: #EBEFF6;
font-weight: bold;
- border: 1px solid #CCCCCC;
+ border: 1px solid #C4CFE5;
margin: 2px 0px 2px 0;
padding: 2px 10px;
}
td.indexvalue {
- background-color: #e8eef2;
- border: 1px solid #CCCCCC;
+ background-color: #EBEFF6;
+ border: 1px solid #C4CFE5;
padding: 2px 10px;
margin: 2px 0px;
}
tr.memlist {
- background-color: #f0f0f0;
+ background-color: #EEF1F7;
}
p.formulaDsp {
@@ -161,6 +227,27 @@ img.formulaInl {
vertical-align: middle;
}
+div.center {
+ text-align: center;
+ margin-top: 0px;
+ margin-bottom: 0px;
+ padding: 0px;
+}
+
+div.center img {
+ border: 0px;
+}
+
+address.footer {
+ text-align: right;
+ padding-right: 12px;
+}
+
+img.footer {
+ border: 0px;
+ vertical-align: middle;
+}
+
/* @group Code Colorization */
span.keyword {
@@ -209,6 +296,7 @@ span.vhdllogic {
/* @end */
+/*
.search {
color: #003399;
font-weight: bold;
@@ -225,6 +313,7 @@ input.search {
font-weight: normal;
background-color: #e8eef2;
}
+*/
td.tiny {
font-size: 75%;
@@ -233,26 +322,35 @@ td.tiny {
.dirtab {
padding: 4px;
border-collapse: collapse;
- border: 1px solid #84b0c7;
+ border: 1px solid #A3B4D7;
}
th.dirtab {
- background: #e8eef2;
+ background: #EBEFF6;
font-weight: bold;
}
hr {
- height: 0;
+ height: 0px;
border: none;
- border-top: 1px solid #666;
+ border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+ height: 1px;
}
/* @group Member Descriptions */
+table.memberdecls {
+ border-spacing: 0px;
+ padding: 0px;
+}
+
.mdescLeft, .mdescRight,
.memItemLeft, .memItemRight,
.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
- background-color: #FAFAFA;
+ background-color: #F9FAFC;
border: none;
margin: 4px;
padding: 1px 0 0 8px;
@@ -264,11 +362,20 @@ hr {
}
.memItemLeft, .memItemRight, .memTemplParams {
- border-top: 1px solid #ccc;
+ border-top: 1px solid #C4CFE5;
+}
+
+.memItemLeft, .memTemplItemLeft {
+ white-space: nowrap;
+}
+
+.memItemRight {
+ width: 100%;
}
.memTemplParams {
- color: #606060;
+ color: #4665A2;
+ white-space: nowrap;
}
/* @end */
@@ -279,51 +386,92 @@ hr {
.memtemplate {
font-size: 80%;
- color: #606060;
+ color: #4665A2;
font-weight: normal;
- margin-left: 3px;
+ margin-left: 9px;
}
.memnav {
- background-color: #e8eef2;
- border: 1px solid #84b0c7;
+ background-color: #EBEFF6;
+ border: 1px solid #A3B4D7;
text-align: center;
margin: 2px;
margin-right: 15px;
padding: 2px;
}
-.memitem {
- padding: 0;
-}
-
-.memname {
- white-space: nowrap;
- font-weight: bold;
-}
-
-.memproto, .memdoc {
- border: 1px solid #84b0c7;
+.mempage {
+ width: 100%;
}
-.memproto {
+.memitem {
padding: 0;
- background-color: #d5e1e8;
- font-weight: bold;
- -webkit-border-top-left-radius: 8px;
- -webkit-border-top-right-radius: 8px;
- -moz-border-radius-topleft: 8px;
- -moz-border-radius-topright: 8px;
+ margin-bottom: 10px;
+ margin-right: 5px;
}
-.memdoc {
- padding: 2px 5px;
- background-color: #eef3f5;
- border-top-width: 0;
- -webkit-border-bottom-left-radius: 8px;
- -webkit-border-bottom-right-radius: 8px;
- -moz-border-radius-bottomleft: 8px;
- -moz-border-radius-bottomright: 8px;
+.memname {
+ white-space: nowrap;
+ font-weight: bold;
+ margin-left: 6px;
+}
+
+.memproto, dl.reflist dt {
+ border-top: 1px solid #A8B8D9;
+ border-left: 1px solid #A8B8D9;
+ border-right: 1px solid #A8B8D9;
+ padding: 6px 0px 6px 0px;
+ color: #253555;
+ font-weight: bold;
+ text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+ /* opera specific markup */
+ box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ border-top-right-radius: 8px;
+ border-top-left-radius: 8px;
+ /* firefox specific markup */
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+ -moz-border-radius-topright: 8px;
+ -moz-border-radius-topleft: 8px;
+ /* webkit specific markup */
+ -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ -webkit-border-top-right-radius: 8px;
+ -webkit-border-top-left-radius: 8px;
+ background-image:url('nav_f.png');
+ background-repeat:repeat-x;
+ background-color: #E2E8F2;
+
+}
+
+.memdoc, dl.reflist dd {
+ border-bottom: 1px solid #A8B8D9;
+ border-left: 1px solid #A8B8D9;
+ border-right: 1px solid #A8B8D9;
+ padding: 2px 5px;
+ background-color: #FBFCFD;
+ border-top-width: 0;
+ /* opera specific markup */
+ border-bottom-left-radius: 8px;
+ border-bottom-right-radius: 8px;
+ box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ /* firefox specific markup */
+ -moz-border-radius-bottomleft: 8px;
+ -moz-border-radius-bottomright: 8px;
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+ background-image: -moz-linear-gradient(center top, #FFFFFF 0%, #FFFFFF 60%, #F7F8FB 95%, #EEF1F7);
+ /* webkit specific markup */
+ -webkit-border-bottom-left-radius: 8px;
+ -webkit-border-bottom-right-radius: 8px;
+ -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+ background-image: -webkit-gradient(linear,center top,center bottom,from(#FFFFFF), color-stop(0.6,#FFFFFF), color-stop(0.60,#FFFFFF), color-stop(0.95,#F7F8FB), to(#EEF1F7));
+}
+
+dl.reflist dt {
+ padding: 5px;
+}
+
+dl.reflist dd {
+ margin: 0px 0px 10px 0px;
+ padding: 5px;
}
.paramkey {
@@ -342,6 +490,28 @@ hr {
font-style: normal;
}
+.params, .retval, .exception, .tparams {
+ border-spacing: 6px 2px;
+}
+
+.params .paramname, .retval .paramname {
+ font-weight: bold;
+ vertical-align: top;
+}
+
+.params .paramtype {
+ font-style: italic;
+ vertical-align: top;
+}
+
+.params .paramdir {
+ font-family: "courier new",courier,monospace;
+ vertical-align: top;
+}
+
+
+
+
/* @end */
/* @group Directory (tree) */
@@ -350,7 +520,7 @@ hr {
.ftvtree {
font-family: sans-serif;
- margin: 0.5em;
+ margin: 0px;
}
/* these are for tree view when used as main index */
@@ -358,6 +528,7 @@ hr {
.directory {
font-size: 9pt;
font-weight: bold;
+ margin: 5px;
}
.directory h3 {
@@ -435,42 +606,345 @@ proper pixel height of your image.
/* @end */
+div.dynheader {
+ margin-top: 8px;
+}
+
address {
font-style: normal;
- font-size : 12px
- color: #333;
+ color: #2A3D61;
+}
+
+table.doxtable {
+ border-collapse:collapse;
+}
+
+table.doxtable td, table.doxtable th {
+ border: 1px solid #2D4068;
+ padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+ background-color: #374F7F;
+ color: #FFFFFF;
+ font-size: 110%;
+ padding-bottom: 4px;
+ padding-top: 5px;
+ text-align:left;
+}
+
+table.fieldtable {
+ width: 100%;
+ margin-bottom: 10px;
+ border: 1px solid #A8B8D9;
+ border-spacing: 0px;
+ -moz-border-radius: 4px;
+ -webkit-border-radius: 4px;
+ border-radius: 4px;
+ -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+ -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+ box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+ padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+ white-space: nowrap;
+ border-right: 1px solid #A8B8D9;
+ border-bottom: 1px solid #A8B8D9;
+ vertical-align: top;
+}
+
+.fieldtable td.fielddoc {
+ border-bottom: 1px solid #A8B8D9;
+ width: 100%;
+}
+
+.fieldtable tr:last-child td {
+ border-bottom: none;
+}
+
+.fieldtable th {
+ background-image:url('nav_f.png');
+ background-repeat:repeat-x;
+ background-color: #E2E8F2;
+ font-size: 90%;
+ color: #253555;
+ padding-bottom: 4px;
+ padding-top: 5px;
+ text-align:left;
+ -moz-border-radius-topleft: 4px;
+ -moz-border-radius-topright: 4px;
+ -webkit-border-top-left-radius: 4px;
+ -webkit-border-top-right-radius: 4px;
+ border-top-left-radius: 4px;
+ border-top-right-radius: 4px;
+ border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+ top: 0px;
+ left: 10px;
+ height: 36px;
+ background-image: url('tab_b.png');
+ z-index: 101;
+ overflow: hidden;
+ font-size: 13px;
+}
+
+.navpath ul
+{
+ font-size: 11px;
+ background-image:url('tab_b.png');
+ background-repeat:repeat-x;
+ height:30px;
+ line-height:30px;
+ color:#8AA0CC;
+ border:solid 1px #C2CDE4;
+ overflow:hidden;
+ margin:0px;
+ padding:0px;
+}
+
+.navpath li
+{
+ list-style-type:none;
+ float:left;
+ padding-left:10px;
+ padding-right:15px;
+ background-image:url('bc_s.png');
+ background-repeat:no-repeat;
+ background-position:right;
+ color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+ height:32px;
+ display:block;
+ text-decoration: none;
+ outline: none;
+}
+
+.navpath li.navelem a:hover
+{
+ color:#6884BD;
+}
+
+.navpath li.footer
+{
+ list-style-type:none;
+ float:right;
+ padding-left:10px;
+ padding-right:15px;
+ background-image:none;
+ background-repeat:no-repeat;
+ background-position:right;
+ color:#364D7C;
+ font-size: 8pt;
+}
+
+
+div.summary
+{
+ float: right;
+ font-size: 8pt;
+ padding-right: 5px;
+ width: 50%;
+ text-align: right;
+}
+
+div.summary a
+{
+ white-space: nowrap;
+}
+
+div.ingroups
+{
+ margin-left: 5px;
+ font-size: 8pt;
+ padding-left: 5px;
+ width: 50%;
+ text-align: left;
+}
+
+div.ingroups a
+{
+ white-space: nowrap;
+}
+
+div.header
+{
+ background-image:url('nav_h.png');
+ background-repeat:repeat-x;
+ background-color: #F9FAFC;
+ margin: 0px;
+ border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+ padding: 5px 5px 5px 7px;
+}
+
+dl
+{
+ padding: 0 0 0 10px;
+}
+
+dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug
+{
+ border-left:4px solid;
+ padding: 0 0 0 6px;
+}
+
+dl.note
+{
+ border-color: #D0C000;
}
-/* Override settings from tabs.css */
-DIV.tabs
+dl.warning, dl.attention
{
- background : none;
- background-color : #EEEEFF;
- border-width : 1px;
- border-style : solid;
- border-color : #CCCCCC;
+ border-color: #FF0000;
}
-DIV.tabs A
+dl.pre, dl.post, dl.invariant
{
- background : none;
- border-bottom : none;
+ border-color: #00D000;
}
-DIV.tabs A:hover
+dl.deprecated
{
- background-color: #DDDDFF;
+ border-color: #505050;
}
-DIV.tabs SPAN
+dl.todo
{
- background : none;
+ border-color: #00C0E0;
+}
+
+dl.test
+{
+ border-color: #3030E0;
+}
+
+dl.bug
+{
+ border-color: #C08050;
+}
+
+#projectlogo
+{
+ text-align: center;
+ vertical-align: bottom;
+ border-collapse: separate;
+}
+
+#projectlogo img
+{
+ border: 0px none;
+}
+
+#projectname
+{
+ font: 300% Tahoma, Arial,sans-serif;
+ margin: 0px;
+ padding: 2px 0px;
+}
+
+#projectbrief
+{
+ font: 120% Tahoma, Arial,sans-serif;
+ margin: 0px;
+ padding: 0px;
+}
+
+#projectnumber
+{
+ font: 50% Tahoma, Arial,sans-serif;
+ margin: 0px;
+ padding: 0px;
+}
+
+#titlearea
+{
+ padding: 0px;
+ margin: 0px;
+ width: 100%;
+ border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+ text-align: center;
+}
+
+.dotgraph
+{
+ text-align: center;
+}
+
+.mscgraph
+{
+ text-align: center;
+}
+
+.caption
+{
+ font-weight: bold;
+}
+
+div.zoom
+{
+ border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+ margin-bottom:50px;
+}
+
+dl.citelist dt {
+ color:#334975;
+ float:left;
+ font-weight:bold;
+ margin-right:10px;
+ padding:5px;
+}
+
+dl.citelist dd {
+ margin:2px 0;
+ padding:5px 0;
}
-DIV.tabs LI.current SPAN
+@media print
{
- background-color: #6666cc;
- color : #FFFFFF;
+ #top { display: none; }
+ #side-nav { display: none; }
+ #nav-path { display: none; }
+ body { overflow:visible; }
+ h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+ .summary { display: none; }
+ .memitem { page-break-inside: avoid; }
+ #doc-content
+ {
+ margin-left:0 !important;
+ height:auto !important;
+ width:auto !important;
+ overflow:inherit;
+ display:inline;
+ }
+ pre.fragment
+ {
+ overflow: visible;
+ text-wrap: unrestricted;
+ white-space: -moz-pre-wrap; /* Moz */
+ white-space: -pre-wrap; /* Opera 4-6 */
+ white-space: -o-pre-wrap; /* Opera 7 */
+ white-space: pre-wrap; /* CSS3 */
+ word-wrap: break-word; /* IE 5.5+ */
+ }
}
-/* @end of Override settings from tabs.css */
diff --git a/source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h b/source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h
index 48e275d2f..d8f4cd261 100755
--- a/source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h
+++ b/source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h
@@ -32,7 +32,7 @@ namespace armarx
{
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<MoveHelpers::MotionControl>(properties) );
+ registry->addObject( Component::create<MoveHelpers::MotionControlHandler>(properties) );
};
};
};
diff --git a/source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp b/source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp
index d652e3e7c..27e192fe3 100644
--- a/source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp
@@ -15,13 +15,13 @@
using namespace armarx;
using namespace armarx::MoveHelpers;
-MotionControl::MotionControl()
+MotionControlHandler::MotionControlHandler()
{
}
-void MotionControl::onInitRemoteStateHandler()
+void MotionControlHandler::onInitRemoteStateHandler()
{
//addState<MoveJoints>("MoveJoints");
//addState<MotionControlTestState>("MotionControlTestState");
@@ -30,7 +30,7 @@ void MotionControl::onInitRemoteStateHandler()
-void MotionControl::onConnectRemoteStateHandler()
+void MotionControlHandler::onConnectRemoteStateHandler()
{
}
@@ -40,9 +40,7 @@ void MoveJoints::defineParameters()
{
context = getContext<RobotStatechartContext>();
- std::string configFilepathAbsolute;
- ArmarXDataPath::getAbsolutePath("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml", configFilepathAbsolute);
- setConfigFile(configFilepathAbsolute);
+ setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
addToInputAsList("jointNames", VariantType::String, false);
addToInputAsList("targetJointValues", VariantType::Float, false);
@@ -137,9 +135,7 @@ void MoveJointsVelocityControl::defineParameters()
{
context = getContext<RobotStatechartContext>();
- std::string configFilepathAbsolute;
- ArmarXDataPath::getAbsolutePath("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml", configFilepathAbsolute);
- setConfigFile(configFilepathAbsolute);
+ setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
addToInputAsList("jointNames", VariantType::String, false);
addToInputAsList("targetJointVelocities", VariantType::Float, false);
@@ -229,9 +225,7 @@ void MoveTCPPoseIK::defineParameters()
{
context = getContext<RobotStatechartContext>();
- std::string configFilepathAbsolute;
- ArmarXDataPath::getAbsolutePath("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml", configFilepathAbsolute);
- setConfigFile(configFilepathAbsolute);
+ setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
addToInput("kinematicChainName", VariantType::String, false);
addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
@@ -285,9 +279,7 @@ void MoveTCPTrajectory::defineParameters()
{
context = getContext<RobotStatechartContext>();
- std::string configFilepathAbsolute;
- ArmarXDataPath::getAbsolutePath("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml", configFilepathAbsolute);
- setConfigFile(configFilepathAbsolute);
+ setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
addToInput("kinematicChainName", VariantType::String, false);
addToInputAsList("targetTCPPositions", VariantType::LinkedPosition, false);
@@ -583,9 +575,7 @@ void ValidateJointAngleConfiguration::onEnter()
void MotionControlTestState::defineParameters()
{
- std::string configFilepathAbsolute;
- ArmarXDataPath::getAbsolutePath("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml", configFilepathAbsolute);
- setConfigFile(configFilepathAbsolute);
+ setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
addToInputAsList("jointNames", VariantType::String, false);
addToInputAsList("targetJointValues", VariantType::Float, false);
@@ -617,9 +607,7 @@ void MotionControlTestState::defineSubstates()
void MotionControlTestStateIK::defineParameters()
{
- std::string configFilepathAbsolute;
- ArmarXDataPath::getAbsolutePath("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml", configFilepathAbsolute);
- setConfigFile(configFilepathAbsolute);
+ setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
addToInput("kinematicChainName", VariantType::String, false);
//addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
diff --git a/source/HumanoidRobotAPI/motioncontrol/MotionControl.h b/source/HumanoidRobotAPI/motioncontrol/MotionControl.h
index 79f65bd58..850621e83 100644
--- a/source/HumanoidRobotAPI/motioncontrol/MotionControl.h
+++ b/source/HumanoidRobotAPI/motioncontrol/MotionControl.h
@@ -21,7 +21,7 @@ namespace MoveHelpers
\section HowTo How to use the states
To use one of the Move Helpers state, you have to make it a substate of your own state (see Statechart). To set its parameters,
- you can either modify the configuration file (HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml) or map them from you own state to it.
+ you can either modify the configuration file (${ArmarX_Home}/data/HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml) or map them from you own state to it.
Two kinds of kinematic entities are controlled using the MoveHelpers: single joints and kinematic chains. A kinematic chain is a list of joints
that usually belong to a part of the robot, e.g. an arm. The joints and the kinematic chains are all defined in the xml files that describe the
@@ -80,16 +80,17 @@ namespace MoveHelpers
*/
/**
- * \class MotionControl
+ * \class MotionControlHandler
* \ingroup MoveHelpers
- * MotionControl contains convenience functions that allow to move parts of the robot,
+ * MotionControlHandler is the remote state interface for the MotionControl-
+ * States. It contains convenience states that allow to move parts of the robot,
* i.e. direct and inverse kinematics for arbitrary kinematic chains and predefined
* parts like the arms.
*/
- class MotionControl : public RemoteStateHandler<RobotStatechartContext>
+ class MotionControlHandler : public RemoteStateHandler<RobotStatechartContext>
{
public:
- MotionControl();
+ MotionControlHandler();
void onInitRemoteStateHandler();
void onConnectRemoteStateHandler();
std::string getDefaultName() const { return "MotionControl"; }
@@ -120,6 +121,7 @@ namespace MoveHelpers
/**
+ * \ingroup MoveHelpers
* Move the joints of a kinematic chain to the desired values.
* \param jointNames the names of the joints to be moved
* \param targetJointValues the desired joint values
@@ -139,6 +141,7 @@ namespace MoveHelpers
/**
+ * \ingroup MoveHelpers
* Move the joints of a kinematic chain to the desired values using velocity control.
* \param jointNames the names of the joints to be moved
* \param targetJointVelocities the desired joint velocities
@@ -157,6 +160,7 @@ namespace MoveHelpers
/**
+ * \ingroup MoveHelpers
* Move the TCP to a desired pose.
* \param kinematicChainName the name of the kinematic chain that is used
* \param targetTCPPosition the target position for the TCP
@@ -181,6 +185,7 @@ namespace MoveHelpers
DEFINEEVENT(EvLastPointNotYetReached)
/**
+ * \ingroup MoveHelpers
* Move the TCP along a trajectory of poses.
* \param kinematicChainName the name of the kinematic chain that is used
* \param targetTCPPositions the list of target positions for the TCP
@@ -204,7 +209,9 @@ namespace MoveHelpers
/**
- * Stop all motion of the robot.
+ * \ingroup MoveHelpers
+ * Stop all motion of the robot. It sets all velocities to 0. No Smooth stopping
+ * is implemented here.
*/
struct StopRobot : StateTemplate<StopRobot>
{
--
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