Fix doxygen generation on website; add doxygen groups

docs/Doxyfile

@@ -32,7 +32,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "MVSIM"
+PROJECT_NAME           = "MVSim"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version

docs/conf.py

@@ -19,10 +19,11 @@
 import os
 import datetime
 
-read_the_docs_build = os.environ.get('READTHEDOCS', None) == 'True'
+# read_the_docs_build = os.environ.get('READTHEDOCS', None) == 'True'
+# if read_the_docs_build:
 
-if read_the_docs_build:
-    subprocess.call('mkdir -p _build/html/doxygen/; doxygen', shell=True)
+# Build doxygen docs too:
+subprocess.call('mkdir -p _build/html/doxygen/; doxygen', shell=True)
 
 
 # -- Project information -----------------------------------------------------

modules/comms/include/mvsim/Comms/Server.h

@@ -34,7 +34,7 @@
 
 namespace mvsim
 {
-/** \addtogroup mvsim_comms_module
+/** \ingroup mvsim_comms_module
  * @{ */
 
 class World;

modules/comms/include/mvsim/Comms/common.h

@@ -25,7 +25,10 @@ class MessageLite;
 
 namespace mvsim
 {
-/** \addtogroup mvsim_comms_module
+/** \defgroup mvsim_comms_module mvsim-comms
+ *   This module implements Client/Server RPC and publish/subscribe mechanism using ZMQ.
+ *
+ * \ingroup mvsim_comms_module
  * @{ */
 
 /** Sends a ZMQ message comprising:

modules/comms/include/mvsim/Comms/ports.h

@@ -11,7 +11,7 @@
 
 namespace mvsim
 {
-/** \addtogroup mvsim_comms_module
+/** \ingroup mvsim_comms_module
  * @{ */
 
 constexpr unsigned int MVSIM_PORTNO_MAIN_REP = 23700;

modules/comms/include/mvsim/Comms/zmq_monitor.h

@@ -21,7 +21,7 @@
 
 namespace mvsim
 {
-/** \addtogroup mvsim_comms_module
+/** \ingroup mvsim_comms_module
  * @{ */
 
 class SocketMonitor : public zmq::monitor_t

modules/simulator/include/mvsim/Block.h

@@ -30,7 +30,9 @@
 
 namespace mvsim
 {
-/** Geometry types for usage within the optional <geometry> XML tag of blocks \sa Block */
+/** Geometry types for usage within the optional <geometry> XML tag of blocks \sa Block
+ * \ingroup mvsim_simulator_module
+ */
 enum class GeometryType : int32_t
 {
 	Invalid = -1,
@@ -43,6 +45,7 @@ enum class GeometryType : int32_t
 };
 
 /** A non-vehicle "actor" for the simulation, typically obstacle blocks.
+ * \ingroup mvsim_simulator_module
  */
 class Block : public VisualObject, public Simulable
 {
@@ -225,7 +228,10 @@ class Block : public VisualObject, public Simulable
 
 };	// end Block
 
-/** An invisible block which can be used as an auxiliary anchor object. */
+/** An invisible block which can be used as an auxiliary anchor object.
+ * \ingroup mvsim_simulator_module
+ *
+ */
 class DummyInvisibleBlock : public VisualObject, public Simulable
 {
    public:

modules/simulator/include/mvsim/ClassFactory.h

@@ -18,7 +18,9 @@
 namespace mvsim
 {
 /** Templatized-class factory for mvsim objects. Does not explicitly handle
- * multi-threading. */
+ * multi-threading.
+ * \ingroup mvsim_simulator_module
+ * */
 template <class CLASS, typename ARG1 = void, typename ARG2 = int>
 class ClassFactory
 {

modules/simulator/include/mvsim/CollisionShapeCache.h

@@ -16,6 +16,7 @@
 
 namespace mvsim
 {
+/** \ingroup mvsim_simulator_module */
 class CollisionShapeCache
 {
    public:

modules/simulator/include/mvsim/ControllerBase.h

@@ -17,6 +17,7 @@ namespace mvsim
 {
 /** Interface of ControllerBaseTempl<> for teleoperation, etc.
  * Abstract interface common to any vehicle type & any controller.
+ * \ingroup mvsim_simulator_module
  */
 class ControllerBaseInterface
 {

modules/simulator/include/mvsim/CsvLogger.h

@@ -5,6 +5,7 @@
 #include <memory>
 #include <string>
 
+/** \ingroup mvsim_simulator_module */
 class CSVLogger
 {
 	typedef std::map<std::string, double> columns_type;

modules/simulator/include/mvsim/FrictionModels/DefaultFriction.h

@@ -19,6 +19,7 @@ namespace mvsim
 {
 /** The default friction model for interaction between each wheel-ground contact
  * point. No rolling resistance.
+ * \ingroup friction_module
  */
 class DefaultFriction : public FrictionBase
 {

modules/simulator/include/mvsim/FrictionModels/FrictionBase.h

@@ -16,7 +16,13 @@
 
 namespace mvsim
 {
-/** Virtual base class for all friction models */
+/** @addtogroup friction_module  Friction simulation module
+ * \ingroup mvsim_simulator_module
+ */
+
+/** Virtual base class for all friction models
+ * \ingroup friction_module
+ */
 class FrictionBase
 {
    public:

modules/simulator/include/mvsim/FrictionModels/WardIagnemmaFriction.h

@@ -21,6 +21,8 @@ namespace mvsim
  * A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor
  * Terrain
  * Chris C. Ward and Karl Iagnemma
+ *
+ * \ingroup friction_module
  */
 class WardIagnemmaFriction : public FrictionBase
 {

modules/simulator/include/mvsim/Joystick.h

@@ -34,7 +34,7 @@ namespace mvsim
  * \note New in MRPT 2.13.0: the API changed to support an arbitrary number of
  *       input axes.
  *
- * \ingroup mrpt_hwdrivers_grp
+ * \ingroup mvsim_simulator_module
  */
 class Joystick
 {

modules/simulator/include/mvsim/PID_Controller.h

@@ -10,6 +10,7 @@
 
 namespace mvsim
 {
+/** \ingroup mvsim_simulator_module */
 struct PID_Controller
 {
 	PID_Controller() = default;

modules/simulator/include/mvsim/RemoteResourcesManager.h

@@ -23,6 +23,7 @@ namespace mvsim
  *
  * See resolve_path() for the possible formats of URI addresses.
  *
+ * \ingroup mvsim_simulator_module
  */
 class RemoteResourcesManager : public mrpt::system::COutputLogger
 {

modules/simulator/include/mvsim/Sensors/CameraSensor.h

@@ -17,7 +17,8 @@
 
 namespace mvsim
 {
-/** A "RGB" camera sensor on board a vehicle.
+/** An "RGB" camera sensor on board a vehicle.
+ * \ingroup sensors_module
  */
 class CameraSensor : public SensorBase
 {

modules/simulator/include/mvsim/Sensors/DepthCameraSensor.h

@@ -29,6 +29,7 @@ namespace mvsim
  * to optionally disable the simulation of either the RGB or Depth part of
  * the outcoming mrpt::obs::CObservation3DRangeScan observations.
  *
+ * \ingroup sensors_module
  */
 class DepthCameraSensor : public SensorBase
 {

modules/simulator/include/mvsim/Sensors/GNSS.h

@@ -18,9 +18,9 @@
 
 namespace mvsim
 {
-/**
- * @brief A Global Navigation Satellite System (GNSS) sensor (GPS).
+/** A Global Navigation Satellite System (GNSS) sensor (GPS).
  *
+ * \ingroup sensors_module
  */
 class GNSS : public SensorBase
 {

modules/simulator/include/mvsim/Sensors/IMU.h

@@ -18,9 +18,8 @@
 
 namespace mvsim
 {
-/**
- * @brief An Inertial Measurement Unit (IMU) sensor.
- *
+/** An Inertial Measurement Unit (IMU) sensor.
+ * \ingroup sensors_module
  */
 class IMU : public SensorBase
 {

modules/simulator/include/mvsim/Sensors/LaserScanner.h

@@ -19,14 +19,14 @@
 
 namespace mvsim
 {
-/**
- * @brief A 2D lidar scanner, with FOV up to 360 degrees.
+/** A 2D lidar scanner, with FOV up to 360 degrees.
  *
  * There are two working modes:
  * - `raytrace_3d=false`: Very fast simulation, applicable to 2D worlds.
  * - `raytrace_3d=true`: Accurate version using detailed 3D meshes for all
  *   available objects in the scene.
  *
+ * \ingroup sensors_module
  */
 class LaserScanner : public SensorBase
 {

modules/simulator/include/mvsim/Sensors/Lidar3D.h

@@ -20,11 +20,12 @@
 
 namespace mvsim
 {
-/**
- * @brief A 3D LiDAR sensor, with 360 degrees horizontal fielf-of-view, and a
+/** A 3D LiDAR sensor, with 360 degrees horizontal fielf-of-view, and a
  * configurable vertical FOV.
  * The number of rays in the vertical FOV and the number of samples in each
  * horizontal row are configurable.
+ *
+ * \ingroup sensors_module
  */
 class Lidar3D : public SensorBase
 {

modules/simulator/include/mvsim/Sensors/SensorBase.h

@@ -22,6 +22,15 @@ namespace mvsim
 {
 class Simulable;
 
+/** @addtogroup sensors_module  Sensor simulation module
+ * \ingroup mvsim_simulator_module
+ */
+
+/**
+ * @brief Virtual base class for all sensors.
+ *
+ * \ingroup sensors_module
+ */
 class SensorBase : public VisualObject, public Simulable
 {
    public:

modules/simulator/include/mvsim/Shape2p5.h

@@ -26,6 +26,7 @@ namespace mvsim
  *  given all former calls to buildAddPoint() or buildAddTriangle() and a
  * ray-tracing algorithm.
  *
+ *  \ingroup mvsim_simulator_module
  */
 class Shape2p5
 {

modules/simulator/include/mvsim/Simulable.h

@@ -24,13 +24,18 @@ class Client;
 class World;
 class VisualObject;
 
+/** \ingroup mvsim_simulator_module */
 struct ParseSimulableParams
 {
 	ParseSimulableParams() = default;
 
 	bool init_pose_mandatory = true;
 };
 
+/** The basic virtual base class for all objects that can run in the simulated mvsim::World
+ *
+ * \ingroup virtual_interfaces_module
+ */
 class Simulable
 {
    public:

modules/simulator/include/mvsim/TParameterDefinitions.h

@@ -33,7 +33,7 @@ namespace mvsim
  * mrpt::math::TPoint3D
  *  - "%bool" ==> bool*. Values: 'true'/'false' or '1'/'0'
  *
- * \todo Rewrite using std::variant?
+ *  \ingroup mvsim_simulator_module
  */
 struct TParamEntry
 {

modules/simulator/include/mvsim/VehicleBase.h

@@ -38,6 +38,8 @@ namespace mvsim
 /** Virtual base class for each vehicle "actor" in the simulation.
  * Derived classes implements different dynamical models (Differential,
  * Ackermann,...)
+ *
+ *  \ingroup virtual_interfaces_module
  */
 class VehicleBase : public VisualObject, public Simulable
 {

modules/simulator/include/mvsim/VehicleDynamics/VehicleAckermann.h

@@ -17,6 +17,7 @@ namespace mvsim
 {
 /** Implementation of 4 wheels Ackermann-driven vehicles.
  * \sa class factory in VehicleBase::factory
+ *  \ingroup vehicle_dynamics_module
  */
 class DynamicsAckermann : public VehicleBase
 {

modules/simulator/include/mvsim/VehicleDynamics/VehicleAckermann_Drivetrain.h

@@ -22,6 +22,8 @@ namespace mvsim
  * http://www.flashoffroad.com/features/Torsen/Torsen_white_paper.pdf
  *
  * \sa class factory in VehicleBase::factory
+ *
+ * \ingroup vehicle_dynamics_module
  */
 class DynamicsAckermannDrivetrain : public VehicleBase
 {

modules/simulator/include/mvsim/VehicleDynamics/VehicleDifferential.h

@@ -15,11 +15,17 @@
 
 namespace mvsim
 {
+/** @addtogroup vehicle_dynamics_module  Vehicle kinematic models
+ * \ingroup mvsim_simulator_module
+ */
+
 /** Implementation of differential-driven vehicles with only two wheels.
  * Simplified model for pure planar scenarios only, do not use with ramps.
  * For that, use Differential or Ackermann models with 3 or 4 wheels.
  *
  * \sa class factory in VehicleBase::factory
+ *
+ * \ingroup vehicle_dynamics_module
  */
 class DynamicsDifferential : public VehicleBase
 {
@@ -214,6 +220,9 @@ class DynamicsDifferential : public VehicleBase
 	ControllerBase::Ptr controller_;  //!< The installed controller
 };
 
+/**
+ * \ingroup vehicle_dynamics_module
+ */
 class DynamicsDifferential_3_wheels : public DynamicsDifferential
 {
 	DECLARES_REGISTER_VEHICLE_DYNAMICS(DynamicsDifferential_3_wheels)
@@ -230,6 +239,9 @@ class DynamicsDifferential_3_wheels : public DynamicsDifferential
 	}
 };
 
+/**
+ * \ingroup vehicle_dynamics_module
+ */
 class DynamicsDifferential_4_wheels : public DynamicsDifferential
 {
 	DECLARES_REGISTER_VEHICLE_DYNAMICS(DynamicsDifferential_4_wheels)

modules/simulator/include/mvsim/VisualObject.h

@@ -24,8 +24,14 @@ namespace mvsim
 {
 class World;
 
+/** @addtogroup virtual_interfaces_module  Virtual interfaces
+ * \ingroup mvsim_simulator_module
+ */
+
 /** Virtual base class for any entity that can be shown in the 3D viewer (or
- * sent out to RViz) */
+ * sent out to RViz)
+ *  \ingroup virtual_interfaces_module
+ */
 class VisualObject
 {
    public: