Improved documentation

- Big improvements of doxygen documentation
- Minor edits in mkdocs website
- Fixes #100

README.md

@@ -45,4 +45,4 @@ year={2017},
 The development of WB-Toolbox is supported by:
 
 - FP7 EU projects CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics)
-- H2020 EU projects An.Dy. (No. 731540 H2020-ICT-2016-1).
+- H2020 EU projects AnDy (No. 731540 H2020-ICT-2016-1)

doc/doxygen/index.md

@@ -35,4 +35,4 @@ Bibtex citation:
 The development of WB-Toolbox is supported by:
 
 - FP7 EU projects CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics)
-- H2020 EU projects An.Dy. (No. 731540 H2020-ICT-2016-1).
+- H2020 EU projects AnDy (No. 731540 H2020-ICT-2016-1)

doc/mkdocs/data/about.md

@@ -24,4 +24,4 @@ In alphabetical order:
 The development of `WB-Toolbox` is supported by:
 
 - FP7 EU projects CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics)
-- H2020 EU projects An.Dy (No. 731540 H2020-ICT-2016-1).
+- H2020 EU projects AnDy (No. 731540 H2020-ICT-2016-1)

doc/mkdocs/data/install.md

@@ -9,6 +9,7 @@
 - Matlab 7.1+ and Simulink: tested with Matlab `R2017b`, `R2016b`
 - [`YARP`](https://github.com/robotology/yarp) compiled as shared library (default behavior)
 - [`iDynTree`](https://github.com/robotology/idyntree)
+- [`YCM`](https://github.com/robotology/ycm)
 - Supported Operating Systems: Linux, macOS,  Windows
 
 ## Optional requirements

toolbox/include/CentroidalMomentum.h

@@ -20,6 +20,9 @@ namespace iDynTree {
     class SpatialMomentum;
 }
 
+/**
+ * @brief The wbt::CentroidalMomentum class
+ */
 class wbt::CentroidalMomentum : public wbt::WBBlock
 {
 private:

toolbox/include/DiscreteFilter.h

@@ -31,6 +31,26 @@ namespace yarp {
     }
 } // namespace yarp
 
+/**
+ * @brief The wbt::DiscreteFilter class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref block_parameters, wbt::DiscreteFilter requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | 1             | "Fc"          |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | 1             | "Ts"          |
+ * | ::STRUCT_INT    | 0 + Block::NumberOfParameters | 1 | 1             | "MedianOrder" |
+ * | ::STRUCT_STRING | 0 + Block::NumberOfParameters | 1 | 1             | "FilterType"  |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | ::DynamicSize | "NumCoeffs"   |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | ::DynamicSize | "DenCoeffs"   |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | 1             | "InitStatus"  |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | 1             | "y0"          |
+ * | ::STRUCT_DOUBLE | 0 + Block::NumberOfParameters | 1 | 1             | "u0"          |
+ *
+ */
 class wbt::DiscreteFilter : public wbt::Block
 {
 private:

toolbox/include/DotJNu.h

@@ -18,6 +18,18 @@ namespace wbt {
     class DotJNu;
 }
 
+/**
+ * @brief The wbt::DotJNu class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::DotJNu requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + WBBlock::NumberOfParameters | 1 | 1 | "Frame" |
+ *
+ */
 class wbt::DotJNu : public wbt::WBBlock
 {
 private:

toolbox/include/ForwardKinematics.h

@@ -17,6 +17,18 @@ namespace wbt {
     class ForwardKinematics;
 }
 
+/**
+ * @brief The wbt::ForwardKinematics class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::ForwardKinematics requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + WBBlock::NumberOfParameters | 1 | 1 | "Frame" |
+ *
+ */
 class wbt::ForwardKinematics : public wbt::WBBlock
 {
 private:

toolbox/include/GetLimits.h

@@ -28,6 +28,18 @@ struct wbt::Limit
     {}
 };
 
+/**
+ * @brief The wbt::GetLimits class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::GetLimits requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::DOUBLE | 0 + WBBlock::NumberOfParameters | 1 | 1 | "LimitType" |
+ *
+ */
 class wbt::GetLimits : public wbt::WBBlock
 {
 private:

toolbox/include/GetMeasurement.h

@@ -22,6 +22,18 @@ namespace wbt {
     };
 } // namespace wbt
 
+/**
+ * @brief The wbt::GetMeasurement class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::GetMeasurement requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + WBBlock::NumberOfParameters | 1 | 1 | "MeasuredType" |
+ *
+ */
 class wbt::GetMeasurement : public wbt::WBBlock
 {
 private:

toolbox/include/InverseDynamics.h

@@ -22,6 +22,9 @@ namespace iDynTree {
     class FreeFloatingGeneralizedTorques;
 } // namespace iDynTree
 
+/**
+ * @brief The wbt::InverseDynamics class
+ */
 class wbt::InverseDynamics : public wbt::WBBlock
 {
 private:

toolbox/include/Jacobian.h

@@ -21,6 +21,18 @@ namespace iDynTree {
     class MatrixDynSize;
 }
 
+/**
+ * @brief The wbt::Jacobian class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::Jacobian requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + WBBlock::NumberOfParameters | 1 | 1 | "Frame" |
+ *
+ */
 class wbt::Jacobian : public wbt::WBBlock
 {
 private:

toolbox/include/MassMatrix.h

@@ -20,6 +20,9 @@ namespace iDynTree {
     class MatrixDynSize;
 }
 
+/**
+ * @brief The wbt::MassMatrix class
+ */
 class wbt::MassMatrix : public wbt::WBBlock
 {
 private:

toolbox/include/MinimumJerkTrajectoryGenerator.h

@@ -10,7 +10,6 @@
 #define WBT_MINJERKTRAJGENERATOR_H
 
 #include "Block.h"
-
 #include <memory>
 #include <yarp/sig/Vector.h>
 
@@ -25,6 +24,24 @@ namespace iCub {
     }
 } // namespace iCub
 
+/**
+ * @brief The wbt::MinimumJerkTrajectoryGenerator class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref block_parameters, wbt::MinimumJerkTrajectoryGenerator requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::DOUBLE | 0 + Block::NumberOfParameters | 1 | 1 | "SampleTime"                |
+ * | ::DOUBLE | 1 + Block::NumberOfParameters | 1 | 1 | "SettlingTime"              |
+ * | ::BOOL   | 2 + Block::NumberOfParameters | 1 | 1 | "ComputeFirstDerivative"    |
+ * | ::BOOL   | 3 + Block::NumberOfParameters | 1 | 1 | "ComputeSecondDerivative"   |
+ * | ::BOOL   | 4 + Block::NumberOfParameters | 1 | 1 | "ReadInitialValue"          |
+ * | ::BOOL   | 5 + Block::NumberOfParameters | 1 | 1 | "ReadExternalSettlingTime"  |
+ * | ::BOOL   | 6 + Block::NumberOfParameters | 1 | 1 | "ResetOnSettlingTimeChange" |
+ *
+ */
 class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block
 {
 private:

toolbox/include/ModelPartitioner.h

@@ -18,6 +18,17 @@ namespace wbt {
     class ModelPartitioner;
 }
 
+/**
+ * @brief The wbt::ModelPartitioner class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::ModelPartitioner requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::BOOL | 0 + WBBlock::NumberOfParameters | 1 | 1 | "VectorToControlBoards" |
+ */
 class wbt::ModelPartitioner : public wbt::WBBlock
 {
 private:

toolbox/include/RealTimeSynchronizer.h

@@ -15,6 +15,18 @@ namespace wbt {
     class RealTimeSynchronizer;
 }
 
+/**
+ * @brief The wbt::RealTimeSynchronizer class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref block_parameters, wbt::RealTimeSynchronizer requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::DOUBLE | 0 + Block::NumberOfParameters | 1 | 1 | "Period" |
+ *
+ */
 class wbt::RealTimeSynchronizer : public wbt::Block
 {
 private:

toolbox/include/SetLowLevelPID.h

@@ -25,6 +25,21 @@ namespace yarp {
     }
 } // namespace yarp
 
+/**
+ * @brief The wbt::SetLowLevelPID class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::SetLowLevelPID requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRUCT_CELL_DOUBLE | 0 + WBBlock::NumberOfParameters | 1 | 1 | "P"           |
+ * | ::STRUCT_CELL_DOUBLE | 0 + WBBlock::NumberOfParameters | 1 | 1 | "I"           |
+ * | ::STRUCT_CELL_DOUBLE | 0 + WBBlock::NumberOfParameters | 1 | 1 | "D"           |
+ * | ::STRING             | 1 + WBBlock::NumberOfParameters | 1 | 1 | "ControlType" |
+ *
+ */
 class wbt::SetLowLevelPID : public wbt::WBBlock
 {
 private:

toolbox/include/SetReferences.h

@@ -16,6 +16,19 @@ namespace wbt {
     class SetReferences;
 }
 
+/**
+ * @brief The wbt::SetReferences class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::SetReferences requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + WBBlock::NumberOfParameters | 1 | 1 | "CtrlType" |
+ * | ::DOUBLE | 0 + WBBlock::NumberOfParameters | 1 | 1 | "RefSpeed" |
+ *
+ */
 class wbt::SetReferences : public wbt::WBBlock
 {
 private:

toolbox/include/SimulatorSynchronizer.h

@@ -16,6 +16,20 @@ namespace wbt {
     class SimulatorSynchronizer;
 }
 
+/**
+ * @brief The wbt::SimulatorSynchronizer class
+ *
+ * @section Parameters
+ *
+ * In addition to @ref wbblock_parameters, wbt::SetReferences requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::DOUBLE | 0 + WBBlock::NumberOfParameters | 1 | 1 | "Period"          |
+ * | ::STRING | 1 + WBBlock::NumberOfParameters | 1 | 1 | "RpcPort"         |
+ * | ::STRING | 2 + WBBlock::NumberOfParameters | 1 | 1 | "GazeboClockPort" |
+ *
+ */
 class wbt::SimulatorSynchronizer : public wbt::Block
 {
 private:

toolbox/include/YarpClock.h

@@ -15,6 +15,9 @@ namespace wbt {
     class YarpClock;
 }
 
+/**
+ * @brief The wbt::YarpClock class
+ */
 class wbt::YarpClock : public wbt::Block
 {
 public:

toolbox/include/YarpRead.h

@@ -26,6 +26,22 @@ namespace yarp {
     }
 } // namespace yarp
 
+/**
+ * @brief The wbt::YarpRead class
+ *
+ * In addition to @ref block_parameters, wbt::YarpRead requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + Block::NumberOfParameters | 1 | 1 | "PortName"           |
+ * | ::INT    | 1 + Block::NumberOfParameters | 1 | 1 | "SignalSize"         |
+ * | ::BOOL   | 2 + Block::NumberOfParameters | 1 | 1 | "WaitData"           |
+ * | ::BOOL   | 3 + Block::NumberOfParameters | 1 | 1 | "ReadTimestamp"      |
+ * | ::BOOL   | 4 + Block::NumberOfParameters | 1 | 1 | "Autoconnect"        |
+ * | ::DOUBLE | 5 + Block::NumberOfParameters | 1 | 1 | "Timeout"            |
+ * | ::BOOL   | 6 + Block::NumberOfParameters | 1 | 1 | "ErrorOnMissingPort" |
+ *
+ */
 class wbt::YarpRead : public wbt::Block
 {
 private:

toolbox/include/YarpWrite.h

@@ -24,6 +24,18 @@ namespace yarp {
     }
 } // namespace yarp
 
+/**
+ * @brief The wbt::YarpWrite class
+ *
+ * In addition to @ref block_parameters, wbt::YarpWrite requires:
+ *
+ * | Type | Index | Rows  | Cols  | Name  |
+ * | ---- | :---: | :---: | :---: | ----- |
+ * | ::STRING | 0 + Block::NumberOfParameters | 1 | 1 | "PortName"           |
+ * | ::BOOL   | 1 + Block::NumberOfParameters | 1 | 1 | "Autoconnect"        |
+ * | ::BOOL   | 2 + Block::NumberOfParameters | 1 | 1 | "ErrorOnMissingPort" |
+ *
+ */
 class wbt::YarpWrite : public wbt::Block
 {
 private: