Documentation: ForceTorqueUnit

source/RobotAPI/units/ForceTorqueUnit.h

@@ -46,6 +46,12 @@ namespace armarx
             }
     };
     
+    /**
+     * The ForceTorqueUnit class is the base unit for force/torque sensors.
+     * It implements the ForceTorqueUnit-interface and is responsible for distributing F/T sensor-values in ArmarX.
+     * RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
+     * Other (hardware related) implementations of this unit can be found in the respective ArmarX projects.
+     */
     class ForceTorqueUnit :
         virtual public ForceTorqueUnitInterface,
         virtual public SensorActorUnit