doxygen: add high level docs for classes

px4_ros2_cpp/include/px4_ros2/common/requirement_flags.hpp

@@ -11,7 +11,7 @@ namespace px4_ros2
 {
 
 /**
- * Requirement flags used by modes
+ * @brief Requirement flags used by modes
  */
 struct RequirementFlags
 {

px4_ros2_cpp/include/px4_ros2/components/manual_control_input.hpp

@@ -17,6 +17,9 @@ namespace px4_ros2
  *  @{
  */
 
+/**
+ * @brief Provides access to manually input control setpoints
+*/
 class ManualControlInput
 {
 public:

px4_ros2_cpp/include/px4_ros2/components/mode.hpp

@@ -63,7 +63,7 @@ constexpr inline const char * resultToString(Result result) noexcept
 }
 
 /**
- * Base class for a mode
+ * @brief Base class for a mode
  * \ingroup components
  */
 class ModeBase : public Context

px4_ros2_cpp/include/px4_ros2/components/mode_executor.hpp

@@ -25,7 +25,7 @@ namespace px4_ros2
  */
 
 /**
- * Base class for a mode executor
+ * @brief Base class for a mode executor
  */
 class ModeExecutorBase
 {

px4_ros2_cpp/include/px4_ros2/control/peripheral_actuators.hpp

@@ -17,7 +17,9 @@ namespace px4_ros2
  */
 
 /**
- * Control one or more extra actuators. It maps to the 'Peripheral Actuator Set' output functions on the PX4 side.
+ * @brief Provides control of one or more extra actuators.
+ *
+ * It maps to the 'Peripheral Actuator Set' output functions on the PX4 side.
  * This can be used by a mode independent from the setpoints.
  */
 class PeripheralActuatorControls

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/direct_actuators.hpp

@@ -18,7 +18,7 @@ namespace px4_ros2
  */
 
 /**
- * Setpoint type for direct actuator control (servos and/or motors)
+ * @brief Setpoint type for direct actuator control (servos and/or motors)
  */
 class DirectActuatorsSetpointType : public SetpointBase
 {

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp

@@ -16,6 +16,9 @@ namespace px4_ros2
  *  @{
  */
 
+/**
+ * @brief Setpoint type for direct attitude control
+*/
 class AttitudeSetpointType : public SetpointBase
 {
 public:

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/rates.hpp

@@ -16,6 +16,9 @@ namespace px4_ros2
  *  @{
  */
 
+/**
+ * @brief Setpoint type for direct rate control
+*/
 class RatesSetpointType : public SetpointBase
 {
 public:

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/trajectory.hpp

@@ -16,6 +16,11 @@ namespace px4_ros2
  *  @{
  */
 
+/**
+ * @brief Setpoint type for trajectory control
+ *
+ * Control entries must not be contradicting.
+*/
 class TrajectorySetpointType : public SetpointBase
 {
 public:

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp

@@ -18,6 +18,9 @@ namespace px4_ros2
  *  @{
  */
 
+/**
+ * @brief Setpoint type for smooth position and heading control
+*/
 class GotoSetpointType : public SetpointBase
 {
 public:
@@ -54,6 +57,9 @@ class GotoSetpointType : public SetpointBase
     _goto_setpoint_pub;
 };
 
+/**
+ * @brief Setpoint type for smooth global position and heading control
+*/
 class GotoGlobalSetpointType
 {
 public:

px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp

@@ -9,13 +9,20 @@
 
 namespace px4_ros2
 {
+
+/**
+ * @brief Thrown to report invalid arguments to measurement interface
+*/
 class NavigationInterfaceInvalidArgument : public std::invalid_argument
 {
 public:
   explicit NavigationInterfaceInvalidArgument(const std::string & message)
   : std::invalid_argument("PX4 ROS2 navigation interface: invalid argument: " + message) {}
 };
 
+/**
+ * @brief Base class for position measurement interface
+*/
 class PositionMeasurementInterfaceBase : public Context
 {
 public:

px4_ros2_cpp/include/px4_ros2/odometry/attitude.hpp

@@ -18,7 +18,7 @@ namespace px4_ros2
  */
 
 /**
- * Provides access to the vehicle's attitude estimate
+ * @brief Provides access to the vehicle's attitude estimate
  */
 class OdometryAttitude : public Subscription<px4_msgs::msg::VehicleAttitude>
 {

px4_ros2_cpp/include/px4_ros2/odometry/global_position.hpp

@@ -17,7 +17,7 @@ namespace px4_ros2
  */
 
 /**
- * Provides access to the vehicle's global position estimate
+ * @brief Provides access to the vehicle's global position estimate
  */
 class OdometryGlobalPosition : public Subscription<px4_msgs::msg::VehicleGlobalPosition>
 {

px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp

@@ -17,7 +17,7 @@ namespace px4_ros2
  */
 
 /**
- * Provides access to the vehicle's local position estimate
+ * @brief Provides access to the vehicle's local position estimate
  */
 class OdometryLocalPosition : public Subscription<px4_msgs::msg::VehicleLocalPosition>
 {

px4_ros2_cpp/include/px4_ros2/odometry/subscription.hpp

@@ -16,7 +16,7 @@ namespace px4_ros2
  */
 
 /**
- * Provides a subscription to arbitrary ROS topics.
+ * @brief Provides a subscription to arbitrary ROS topics.
  */
 template<typename RosMessageType>
 class Subscription