diff --git a/etc/doxygen/images/HandUnitGUI.png b/etc/doxygen/images/HandUnitGUI.png
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diff --git a/etc/doxygen/images/KinematicUnitGUI.png b/etc/doxygen/images/KinematicUnitGUI.png
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diff --git a/etc/doxygen/images/PlatformUnitGUI.png b/etc/doxygen/images/PlatformUnitGUI.png
new file mode 100644
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diff --git a/etc/doxygen/images/Plotter.png b/etc/doxygen/images/Plotter.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a2c93ebbe450cd40f8305c826b80c2d8571d924
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diff --git a/etc/doxygen/images/RobotViewerGUI.png b/etc/doxygen/images/RobotViewerGUI.png
new file mode 100644
index 0000000000000000000000000000000000000000..51013ed4f40d00662935e6b3d14ffa96c77abeb7
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diff --git a/etc/doxygen/pages/RobotApi-Gui-plugins.dox b/etc/doxygen/pages/RobotApi-Gui-plugins.dox
new file mode 100644
index 0000000000000000000000000000000000000000..b703732f17679147c4230698fa4e05e9c935b2f9
--- /dev/null
+++ b/etc/doxygen/pages/RobotApi-Gui-plugins.dox
@@ -0,0 +1,4 @@
+/**
+ * \defgroup ArmarXGuiPlugins-RobotAPI RobotAPI GUI plugins
+ * \ingroup ArmarXGuiPlugins
+ */
\ No newline at end of file
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 6990aa89d6074bde6d3523d71607daf6d1b1e100..b9f2d186d0ee380bd34a35f5ffa441ba68202905 100644
--- a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -46,8 +46,18 @@ namespace armarx
/**
\class HandUnitGuiPlugin
\brief With this plugin the HandUnit can be controlled.
- \ingroup ArmarXGuiPlugins
-
+ \image html HandUnitGUI.png
+
+ When you add the widget to the Gui, you need to specify the following parameters:
+
+ Parameter Name | Example Value | Required? | Description
+ :---------------- | :-------------: | :-------------- |:--------------------
+ Proxy | LeftHandUnit | Yes | The hand unit you want to control.
+
+ You can either select a preshape from the drop-down-menu on top or set each
+ joint individually.
+
+ \ingroup ArmarXGuiPlugins-RobotAPI
\see HandUnitWidget
*/
class HandUnitGuiPlugin :
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index f8aaa11ea18c06bc7072f19257f764d78d83ff95..ec2c337afaa0f863df0f16cdb225c3f154c19e29 100644
--- a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -49,7 +49,7 @@ namespace armarx
/**
\class HapticUnitGuiPlugin
\brief With this plugin the HapticUnit can be controlled.
- \ingroup ArmarXGuiPlugins
+ \ingroup ArmarXGuiPlugins-RobotAPI
\see HapticUnitWidget
*/
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 6ba6189a62ea6899eb534291079f08214f902308..92ff0b98f324adf7c16904f48876b94f4d6d396d 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -67,12 +67,27 @@ namespace armarx
class KinematicUnitConfigDialog;
/**
- \class KinematicUnitGuiPlugin
- \brief This plugin provides a generic widget showing position and velocity of all joints. Optionally a 3d robot model can be visualized.
- \ingroup ArmarXGuiPlugins
-
- \see KinematicUnitWidget
- */
+ \class KinematicUnitGuiPlugin
+ \brief This plugin provides a generic widget showing position and velocity of all joints. Optionally a 3d robot model can be visualized.
+
+ \image html KinematicUnitGUI.png
+ When you add the widget to the Gui, you need to specify the following parameters:
+
+ Parameter Name | Example Value | Required? | Description
+ :---------------- | :-------------: | :-------------- |:--------------------
+ Robot model filepath | $ArmarX_Core/Armar3/data/Armar3/robotmodel/ArmarIII.xml | Yes | The robot model to use. This needs to be the same model the kinematic unit is using.
+ Robot nodeset name | Robot | Yes | ?
+ Kinematic unit name - Proxy | Armar3KinematicUnit | Yes | The kinematic unit you wish to observe/control.
+ RobotState Topic Name | RobotState | ? | ?
+
+ This plugin allows you to both observe and control a kinematic unit. All joints are listed in
+ the table in the center of the widget. The 3D viewer shows the current state of the robot.
+
+ On the top you can select the joint you wish to control and the control mode. You can control
+ a joint with the slider below.
+ \see KinematicUnitWidget
+ \ingroup ArmarXGuiPlugins-RobotAPI
+ */
class KinematicUnitGuiPlugin :
public ArmarXGuiPlugin
{
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index 196bb0b13be11087edb85b03fa8be52726f3d32b..01dd216af8fae7b46316beea5f61cb2e2704986b 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -48,14 +48,22 @@ namespace armarx
/**
\class PlatformUnitGuiPlugin
\brief With this plugin the PlatformUnit can be controlled.
- \ingroup ArmarXGuiPlugins
+ \ingroup ArmarXGuiPlugins-RobotAPI
\see PlatformUnitWidget
- \image html PlatformUnitGuiPlugin_widgetpng.png "The plugin's ui." width=300px
+ \image html PlatformUnitGUI.png "The plugin's ui." width=300px
-# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
- -# A joystick like control widget to move the platform. It has two speed level. The platform does not rotate to move in a direction. Up moves the platform forward.
+ -# A joystick like control widget to move the platform. The platform does not rotate to move in a direction. Up moves the platform forward.
-# A joystick like control widget to rotate the platform.
+ -# Be careful to set a maximum velocity before using the joysticks.
+
+ When you add the widget to the Gui, you need to specify the following parameters:
+
+ Parameter Name | Example Value | Required? | Description
+ :---------------- | :-------------: | :-------------- |:--------------------
+ PlatformUnit - Proxy | PlatformUnit | Yes | The name of the platform unit.
+ Platform | Platform | Yes | The name of the platform.
*/
class PlatformUnitGuiPlugin :
public ArmarXGuiPlugin
diff --git a/source/RobotAPI/gui_plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui_plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index c4f2fba368878fee2e0fb7e73bba0c6fe73abc7f..969a9a2b9e60e9525dc06dde0b2c969830ba2f05 100644
--- a/source/RobotAPI/gui_plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -60,8 +60,15 @@ namespace armarx
\brief This plugin provides a generic widget showing a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
Further, DebugDrawer methods are available.
- \ingroup ArmarXGuiPlugins
+ \image html RobotViewerGUI.png
+ When you add the widget to the Gui, you need to specify the following parameters:
+
+ Parameter Name | Example Value | Required? | Description
+ :---------------- | :-------------: | :-------------- |:--------------------
+ Proxy | RobotStateComponent | Yes | The name of the robot state component.
+
+ \ingroup ArmarXGuiPlugins-RobotAPI
\see RobotViewerWidget
*/
class RobotViewerGuiPlugin :
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index 989a1ec179268920d285e2974f03565f6ea4c44b..b4b92ba1806730c93587b564b063d1bf32cd2829 100644
--- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -32,8 +32,12 @@
namespace armarx
{
/**
- * @brief The MdiPlugin class
- * @ingroup ArmarXGuiPlugins
+ * @brief The SensorActorWidgetPlugin offers the widgets Plotter and TCPMover.
+ * @ingroup ArmarXGuiPlugins-RobotAPI
+ *
+ * The plotter widget allows the user to plot any sensor channel:
+ * \image Plotter.png
+ * A sensor channel can be selected for plotting by clicking the wrench button at the bottom.
*
* @see ArmarXPlotter
*/