From 7c93e9a6b9f7ed60bc6182c1cf7bf59ad7fe45ce Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Tue, 21 Jul 2015 15:26:45 +0200
Subject: [PATCH] Documentation: RobotIK and MMMPlayer revised
---
source/RobotAPI/components/MMMPlayer/MMMPlayer.h | 14 ++++++++------
source/RobotAPI/components/RobotIK/RobotIK.h | 13 +++++++------
2 files changed, 15 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
index 272c8823d..6a31c2d37 100644
--- a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
+++ b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
@@ -40,8 +40,8 @@
namespace armarx
{
/**
- * @class MMMPlayerPropertyDefinitions
- * @brief
+ * \class MMMPlayerPropertyDefinitions
+ * \brief
*/
class MMMPlayerPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -80,11 +80,13 @@ namespace armarx
};
/**
- * @class MMMPlayer
- * @ingroup RobotAPI-Components
- * @brief A brief description
+ * \class MMMPlayer
+ * \ingroup RobotAPI-Components
+ * \brief Replays an MMM trajectory from a file.
*
- * Detailed Description
+ * MMMPlayer reads an MMM trajectory from an MMM XML file (component property) and replays the motion using the KinematicUnit and its currently loaded robot.
+ * The trajectory can be replayed using position control or velocity control.
+ * In the latter case, the control parameters (P, I, D) can be configured via component properties.
*/
class MMMPlayer :
virtual public armarx::Component,
diff --git a/source/RobotAPI/components/RobotIK/RobotIK.h b/source/RobotAPI/components/RobotIK/RobotIK.h
index f16b1d38d..9e3582c0b 100644
--- a/source/RobotAPI/components/RobotIK/RobotIK.h
+++ b/source/RobotAPI/components/RobotIK/RobotIK.h
@@ -39,7 +39,8 @@
namespace armarx
{
/**
- * RobotIKPropertyDefinition Property Definitions
+ * \class RobotIKPropertyDefinition
+ * \brief
*/
class RobotIKPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -59,11 +60,11 @@ namespace armarx
/**
- * @class RobotIK
- * @ingroup RobotAPI-Components
- * The RobotIK component is a wrapper for several IK-Solver from
- * VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
- * It provides a set of functions that allow computing IKs for any kinematic chain
+ * \class RobotIK
+ * \ingroup RobotAPI-Components
+ * \brief Provides IK solving methods from VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
+ *
+ * RobotIK provides a set of functions that allow computing IKs for any kinematic chain
* in a robot. This component requires the following properties:
* - RobotFileName: The VirtualRobot robot model to be used.
* - RobotStateComponentName: The name of a robot state component.
--
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