Add function documentations

Author: urfeex

include/ur_client_library/control/trajectory_point_interface.h

@@ -132,6 +132,14 @@ class TrajectoryPointInterface : public ReverseInterface
   bool writeTrajectorySplinePoint(const vector6d_t* positions, const vector6d_t* velocities,
                                   const vector6d_t* accelerations, const float goal_time);
 
+  /*!
+   * \brief Writes a motion primitive to the robot to be read by the URScript program.
+   *
+   * \param primitive A shared pointer to a motion primitive object. This can contain any motion
+   * primitive type that is supported. Currently, that is MoveJ, MoveL, MoveP and MoveC.
+   *
+   * \returns True, if the write was performed successfully, false otherwise.
+   */
   bool writeMotionPrimitive(const std::shared_ptr<control::MotionPrimitive> primitive);
 
   void setTrajectoryEndCallback(std::function<void(TrajectoryResult)> callback)

include/ur_client_library/ur/instruction_executor.h

@@ -82,10 +82,10 @@ class InstructionExecutor
              const double time = 0, const double blend_radius = 0);
 
   /**
-   * \brief Move the robot to a pose target.
+   * \brief Move the robot to a pose target using movel
    *
    * This function will move the robot to the given pose target. The robot will move with the given acceleration and
-   * velocity. The function will return once the robot has reached the target.
+   * velocity or a motion time. The function will return once the robot has reached the target.
    *
    * \param target The pose target to move to.
    * \param acceleration Tool acceleration [m/s^2]
@@ -98,6 +98,18 @@ class InstructionExecutor
   bool moveL(const urcl::Pose& target, const double acceleration = 1.4, const double velocity = 1.04,
              const double time = 0, const double blend_radius = 0);
 
+  /**
+   * \brief Move the robot to a pose target using movep
+   *
+   * This function will move the robot to the given pose target. The robot will move with the given acceleration and
+   * velocity. The function will return once the robot has reached the target.
+   *
+   * \param target The pose target to move to.
+   * \param acceleration Tool acceleration [m/s^2]
+   * \param velocity Tool speed [m/s]
+   * \param blend_radius The blend radius to use for the motion.
+   * \return True if the robot has reached the target, false otherwise.
+   */
   bool moveP(const urcl::Pose& target, const double acceleration = 1.4, const double velocity = 1.04,
              const double blend_radius = 0.0);
 

include/ur_client_library/ur/ur_driver.h

@@ -532,6 +532,16 @@ class UrDriver
    */
   bool writeTrajectorySplinePoint(const vector6d_t& positions, const float goal_time = 0.0);
 
+  /*!
+   * \brief Writes a motion command to the trajectory point interface
+   *
+   * The motion command corresponds directly to a URScript move function such as `movej` or
+   * `movel`. See the MotionPrimitive's header for all possible motion primitives.
+   *
+   * \param motion_instruction The motion primitive to be sent to the robot.
+   *
+   * \returns True on successful write.
+   */
   bool writeMotionPrimitive(const std::shared_ptr<control::MotionPrimitive> motion_instruction);
 
   /*!