docu

source/RobotAPI/components/robotstate/RobotStateComponent.h

@@ -59,38 +59,31 @@ namespace armarx
      * @class RobotStateComponent
      * @ingroup Components
      * The RobotStateComponent creates an internal robot representation from
-     * a VirtualRobot XML file.
+     * a VirtualRobot (see [Simox](http://simox.sourceforge.net/)) XML file.
      * Upon request, an Ice proxy to a shared instance of this internal robot
      * can be acquired through a call to RobotStateComponent::getSynchronizedRobot().
      * Additionally it is possible to retrieve a proxy for robot snapshot with
      * RobotStateComponent::getRobotSnapshot().
      * While the synchronized robot will constantly update its internal state
-     * the robot snapshot is a clone of the original robot an won't update its
-     * configuration over time.
-     * See \ref remoterobot for more details and the usage of this component.
+     * the robot snapshot is a clone of the original robot and won't update its
+     * configuration over time.  This is useful, if several components need
+     * to calculate on the same values.
+     * See \ref armarx::RemoteRobot "RemoteRobot" for more details and the usage of this component.
      */
     class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
         virtual public Component,
         virtual public RobotStateComponentInterface
     {
     public:
-        // inherited from KinematicUnitInterface
-        void reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
-        void reportJointAngles(const NameValueMap& jointAngles,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
-        void reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
-        void reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
-        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
-        void reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
-        void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
-        void reportJointStatuses(const NameStatusMap& jointStatuses,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+
 
         /**
-         * \return SharedRobotInterface proxy to the internal synchronized robot (gets created upon first call)
+         * \return SharedRobotInterface proxy to the internal synchronized robot.
          */
         virtual SharedRobotInterfacePrx getSynchronizedRobot(const Ice::Current&) const;
 
         /**
-         * \return clone of the internal synchronized robot
+         * \return Clone of the internal synchronized robot.
          */
         virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string & time, const Ice::Current&);
         
@@ -99,6 +92,10 @@ namespace armarx
          */
         virtual std::string getRobotFilename(const Ice::Current&) const;
 
+        /**
+         *
+         * \return  The name of this robot instance.
+         */
         virtual std::string getRobotName(const Ice::Current &) const;
 
         /**
@@ -127,6 +124,16 @@ namespace armarx
          * Calls unref() on RobotStateComponent::_synchronizedPrx.
          */
         virtual ~RobotStateComponent();
+
+        // inherited from KinematicUnitInterface
+        void reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointAngles(const NameValueMap& jointAngles,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
+        void reportJointCurrents(const NameValueMap& jointCurrents,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+        void reportJointStatuses(const NameStatusMap& jointStatuses,  bool aValueChanged, const Ice::Current& c = ::Ice::Current());
     private:
         SharedRobotInterfacePrx _synchronizedPrx;
         SharedRobotServantPtr _sharedRobotServant;

source/RobotAPI/components/units/TCPControlUnit.h

@@ -67,7 +67,7 @@ namespace armarx {
      * updates the joint velocities. To set another cycle time use setCycleTime().
      * To set the velocity for a node use setTCPVelocity. Calling setTCPVelocity again with another nodeset
      * will add this nodeset to the list of currently controlled TCPs.
-     * @node After usage release() must be called to stop the recalcuation and setting of joint velocities.
+     * @node After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
      */
 
     class TCPControlUnit :
@@ -127,14 +127,15 @@ namespace armarx {
 
         // UnitResourceManagementInterface interface
         /**
-         * @brief Triggers the calculation loop for using cartesian velocity. Call once before setting a tcp velocity, with SetTCPVelocity.
+         * @brief Triggers the calculation loop for using cartesian velocity. Call once before/after setting a tcp velocity with SetTCPVelocity.
          * @param c Ice Context, leave blank.
          */
         void request(const Ice::Current &c = Ice::Current());
 
         /**
          * @brief Releases and stops the recalculation and updating of joint velocities.
-         * Call always when finished with cartesian control.
+         * Call always when finished with cartesian control. The target velocity values of
+         * all node set will be deleted in this function.
          * @param c Ice Context, leave blank.
          */
         void release(const Ice::Current &c = Ice::Current());

source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h

@@ -163,6 +163,10 @@ namespace armarx
         virtual VirtualRobot::RobotNodeSetPtr getRobotNodeSet(const std::string &nodeSetName);
         virtual void getRobotNodeSets(std::vector<VirtualRobot::RobotNodeSetPtr> &storeNodeSet);
 
+        /**
+         *
+         * @return Global pose of the robot
+         */
         virtual Eigen::Matrix4f getGlobalPose();
 
 
@@ -215,7 +219,11 @@ namespace armarx
         virtual void deregisterRobotNodeSet(VirtualRobot::RobotNodeSetPtr nodeSet);
         /// Not implemented yet
         virtual void registerEndEffector(VirtualRobot::EndEffectorPtr endEffector);
-        /// Not implemented yet
+        /**
+         * @brief Sets the global pose of the robot.
+         * @param globalPose new global pose
+         * @param applyValues No effect. Will be always applied.
+         */
         virtual void setGlobalPose(const Eigen::Matrix4f &globalPose, bool applyValues = true);
 
         VirtualRobot::RobotNodePtr createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr> &allNodes, std::map<VirtualRobot::RobotNodePtr, std::vector<std::string> > &childrenMap, VirtualRobot::RobotPtr robo);