From a786ee97dde7fa9a9b62e60a77b2da771b22f4ef Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 12 Sep 2019 09:11:13 +0200
Subject: [PATCH] Add some doc

---
 .../components/RobotState/RobotStateComponent.h | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 85d41ffc4..162b5c666 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -122,9 +122,13 @@ namespace armarx
 
 
         // PlatformUnitListener interface
+        /// Stores the platform pose in the pose history.
         void reportPlatformPose(const PlatformPose& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportNewTargetPose(Ice::Float newPlatformPositionX, Ice::Float newPlatformPositionY, Ice::Float newPlatformRotation, const Ice::Current& = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportPlatformVelocity(Ice::Float currentPlatformVelocityX, Ice::Float currentPlatformVelocityY, Ice::Float currentPlatformVelocityRotation, const Ice::Current& = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current& = Ice::emptyCurrent) override;
 
 
@@ -136,23 +140,30 @@ namespace armarx
          * RobotNodeSet specified in the RobotNodeSetName property.
          */
         void onInitComponent() override;
-        /**
-         * Setup RobotStateObjectFactories needed for creating RemoteRobot instances.
-         */
+        /// Setup RobotStateObjectFactories needed for creating RemoteRobot instances.
         void onConnectComponent() override;
         void onDisconnectComponent() override;
 
         /// Calls unref() on RobotStateComponent::_synchronizedPrx.
         ~RobotStateComponent() override;
 
+
         // Inherited from KinematicUnitInterface
+        /// Does nothing.
         void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+        /// Stores the reported joint angles in the joint history and publishes the new joint angles.
         void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+        /// Sends the joint velocities to the robot state observer.
         void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
+        /// Does nothing.
         void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+        /// Does nothing.
         void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
 
 
-- 
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