From e963d1a7b41cd351ab0d5dab1a6eb3fd08733e81 Mon Sep 17 00:00:00 2001
From: Stefan Ulbrich <stefan.ulbrich@kit.edu>
Date: Mon, 18 Aug 2014 17:37:37 +0200
Subject: [PATCH] Added documentation for SharedRobot*Servant classes
---
.../RobotAPI/robotstate/RobotStateComponent.h | 1 +
.../RobotAPI/robotstate/SharedRobotServants.h | 17 +++++++++++++++++
2 files changed, 18 insertions(+)
diff --git a/source/RobotAPI/robotstate/RobotStateComponent.h b/source/RobotAPI/robotstate/RobotStateComponent.h
index 11c4128aa..d4dafacca 100644
--- a/source/RobotAPI/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/robotstate/RobotStateComponent.h
@@ -61,6 +61,7 @@ namespace armarx
* 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.
*/
class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
virtual public Component,
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.h b/source/RobotAPI/robotstate/SharedRobotServants.h
index 89a063b46..c0c78cf02 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.h
+++ b/source/RobotAPI/robotstate/SharedRobotServants.h
@@ -16,6 +16,10 @@
namespace armarx {
// Zugriff muss mutex geschuetzt werden!
+ /**
+ * @brief The base class for remote objects on the ice server
+ *
+ */
class SharedObjectBase :
virtual public SharedObjectInterface
@@ -30,6 +34,13 @@ namespace armarx {
boost::mutex _counterMutex;
};
+ /**
+ * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
+ *
+ * @details This class is used only internally by the the RobotStateComponent. Other classes such as the LinkedPose, RemoteRobot,
+ * TCPControlUnit and HeadIKUnit classes address this class by the SharedRobotNodeInterface and SharedRobotNodeInterfacePrx generated by
+ * ICE.
+ */
class SharedRobotNodeServant :
virtual public SharedRobotNodeInterface,
public SharedObjectBase
@@ -65,6 +76,12 @@ namespace armarx {
VirtualRobot::RobotNodePtr _node;
};
+ /**
+ * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
+ *
+ * @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
+ * classes generated by ICE.
+ */
class SharedRobotServant :
public virtual SharedRobotInterface,
--
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