From 88dea7c16513e005760bd1a6f10ad191ae4ccef8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 14 Dec 2023 09:32:06 +0100
Subject: [PATCH] Adapt armem doc
---
.../RobotState/localization.md | 16 +++++++++-------
...create_a_new_core_segment_or_memory_server.md | 7 ++++++-
etc/doxygen/pages/armem/memory_system.md | 3 ---
3 files changed, 15 insertions(+), 11 deletions(-)
diff --git a/etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md b/etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md
index 5ccff189a..6a9b89dc8 100644
--- a/etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md
+++ b/etc/doxygen/pages/armem/existing_memory_servers_and_segments/RobotState/localization.md
@@ -22,19 +22,21 @@ For each transformation between frames, there exist individual components:
| `odom->robot` | **Odometry** |
-### Memory design
+### Memory Design
-Within the core segment, each robot has its own provider segment (here: Armar6). Within the provider segment, entities describe the transformations between the frames ("Global,Map" -> [global->map]).
+Within the core segment, each robot has its own provider segment (here: `Armar6`).
+Within the provider segment, entities describe the transformations between the frames (`Global,Map` -> `global->map`).
-### Using the localization memory
+### Using the Localization Memory
-See **RobotAPI/libraries/armem_robot_localization**
+See `armarx::armem::client::robot_state::localization` (include `RobotAPI/libraries/armem_robot_localization/`).
There exist two classes:
-* armarx::armem::client::robot_state::localization::TransformWriter to send transformations to memory
-* armarx::armem::client::robot_state::localization::TransformReader to obtain transformations between any of the frames; can also be used to obtain the "robot's global pose"
+* `armarx::armem::client::robot_state::localization::TransformWriter` to send transformations to memory
+* `armarx::armem::client::robot_state::localization::TransformReader` to obtain transformations between any of the
+ frames; can also be used to obtain the "robot's global pose"
-For an example, see RobotComponents/components/carographer_mapping_and_localization (currently branch feature/cartographer_integration)
+For an example, see `RobotComponents/components/carographer_mapping_and_localization` (currently branch `feature/cartographer_integration`)
diff --git a/etc/doxygen/pages/armem/how_to_create_a_new_core_segment_or_memory_server.md b/etc/doxygen/pages/armem/how_to_create_a_new_core_segment_or_memory_server.md
index c9a0cef82..2f20e0350 100644
--- a/etc/doxygen/pages/armem/how_to_create_a_new_core_segment_or_memory_server.md
+++ b/etc/doxygen/pages/armem/how_to_create_a_new_core_segment_or_memory_server.md
@@ -1,8 +1,13 @@
# How to Create a New Core segment or Memory Server {#memory_system-how_to_create_a_new_core_segment_or_memory_server}
+@see
+\ref tutorials_120_memory_server_and_client_cpp
+
+\todo
+Merge the information from here into the tutorial
+
In order to make a new type of data available in the memory system, you first need to create an ARON XML file. Please refer to [Aron/CodeGeneration](Aron/CodeGeneration) if you want to know how to do so.
-[[_TOC_]]
<!--
# Define your data type in ARON
diff --git a/etc/doxygen/pages/armem/memory_system.md b/etc/doxygen/pages/armem/memory_system.md
index 9abbee063..72da8b518 100644
--- a/etc/doxygen/pages/armem/memory_system.md
+++ b/etc/doxygen/pages/armem/memory_system.md
@@ -3,6 +3,3 @@
- \subpage memory_system-introduction
- \subpage memory_system-existing_servers_segments
- \subpage memory_system-how_to_create_a_new_core_segment_or_memory_server
-
-
-
--
GitLab