Add documentation about Instruction Executor

Author: urfeex

doc/architecture.rst

@@ -14,6 +14,7 @@ well as a couple of standalone modules to directly use subsets of the library's
    architecture/script_sender
    architecture/trajectory_point_interface
    architecture/ur_driver
+   architecture/instruction_executor
 
 
 Dataflow overview with UrDriver

doc/architecture/instruction_executor.rst

@@ -0,0 +1,23 @@
+Instruction Executor
+====================
+
+The Instruction Executor is a convenience wrapper to make common robot instructions such as point
+to point motions easily accessible. Currently, it supports the following instructions:
+
+* Excecute MoveJ point to point motions
+* Execute MoveL point to point motions
+* Execute sequences consisting of MoveJ and MoveL instructions
+
+The Instruction Executor uses the :ref:`trajectory_point_interface` and the
+:ref:`reverse_interface`
+for sending motion instructions to the robot. Hence, it requires a :ref:`ur_driver` object.
+
+As a minimal working example, please see ``examples/instruction_executor.cpp`` example:
+
+.. literalinclude:: ../../examples/instruction_executor.cpp
+   :language: c++
+   :caption: examples/instruction_executor.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: g_my_driver.reset
+   :end-at: g_my_driver->stopControl();

examples/instruction_executor.cpp

@@ -123,7 +123,7 @@ int main(int argc, char* argv[])
     std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose{ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1,
                                                     std::chrono::seconds(2)),
   };
-  instruction_executor->executeMotion(motion_sequence);  // That could also receive velocity parametrization
+  instruction_executor->executeMotion(motion_sequence);
 
   instruction_executor->moveJ({ -1.57, -1.57, 0, 0, 0, 0 });
   instruction_executor->moveJ({ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 });
@@ -132,4 +132,4 @@ int main(int argc, char* argv[])
 
   g_my_driver->stopControl();
   return 0;
-}
+}