[DOC] some correction to get rid of warning messages

MBsysC/mbs_common/mbs_add_on/mbs_lmgc/mod_external_robotran.f90

@@ -276,7 +276,12 @@ module ExternalMBS
     
   end subroutine
 
-
+  !> Add the given node reaction contribution to the reaction of the global mbs in 3D simulation
+  !! @param i_mbs the index of the mbs for which the reaction must be applied
+  !! @param i_node the index of the node on which the reaction is applied
+  !! @param reac reaction to add with the forces expressed in global frame and torque in body frame
+  !! @param storage flag to communicate the state of the computation 
+  !! @param LFTT rotation matrix to pass from global frame to body frame
   subroutine add_reac_3D(i_mbs, i_node, reac, storage, LFTT)
     implicit none
     
@@ -284,12 +289,12 @@ module ExternalMBS
     integer(kind=4), intent(in)    :: i_node
     integer(kind=4), intent(in)    :: storage
     real(kind=8)   , dimension(6)  :: reac
-    !> Reaction with Forces expressed in global frame and torque in body frame
+    ! Reaction with Forces expressed in global frame and torque in body frame
     real(kind=8)   , dimension(6)  :: reac_glob
-    !> reac vector with torques expressed in global frame.
-    !> reac is not modified because it's intent(in) in mod_mbs.f90
+    ! reac vector with torques expressed in global frame.
+    ! reac is not modified because it's intent(in) in mod_mbs.f90
     real(kind=8)   , dimension(3,3):: LFTT
-    !> Matrix to pass from global frame to body frame
+    ! Matrix to pass from global frame to body frame
     
                              !123456789012345678901
     character(len=20) :: IAM='ext_mbs::add_reac_3D'
@@ -316,16 +321,21 @@ module ExternalMBS
    
   end subroutine
   
-    subroutine add_reac_2D(i_mbs, i_node, reac, storage)
+  !> Add the given node reaction contribution to the reaction of the global mbs in 2D simulation
+  !! @param i_mbs the index of the mbs for which the reaction must be applied
+  !! @param i_node the index of the node on which the reaction is applied
+  !! @param reac reaction to add with the forces and torque expressed in global frame
+  !! @param storage flag to communicate the state of the computation 
+  subroutine add_reac_2D(i_mbs, i_node, reac, storage)
     implicit none
     
     integer(kind=4), intent(in)    :: i_mbs    
     integer(kind=4), intent(in)    :: i_node
     integer(kind=4), intent(in)    :: storage
     real(kind=8)   , dimension(3)  :: reac
-    !> Reaction with Forces along X and Y an torque around Z expressed in global frame
+    ! Reaction with Forces along X and Y an torque around Z expressed in global frame
     real(kind=8)   , dimension(6)  :: reac_glob
-    !> Same vector as reac but completed in 3D : [Fx, Fy, 0, 0, 0, Tz]
+    ! Same vector as reac but completed in 3D : [Fx, Fy, 0, 0, 0, Tz]
     
                              !123456789012345678901
     character(len=20) :: IAM='ext_mbs::add_reac_2D'

MBsysC/mbs_common/mbs_module/mbs_dirdyn.h

@@ -51,9 +51,8 @@ MbsDirdyn* mbs_new_dirdyn_aux(MbsData* mbs_data, MbsAux* mbs_aux);
   *
   * The MbsData structure associated to dirdyn is modified 
   *
-  * @param dirdyn the MbsDirdyn to be run
-  * @return the MbsDirdyn ...
-  *
+  * @param[in,out] dirdyn the MbsDirdyn to be run
+  * @param[in,out] mbs_data the MbsData structure of the model for which the direct dynamic is computed
   */
 
 MBSYSC_MODULE_EXPORT void mbs_run_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data);

MBsysC/mbs_common/mbs_module/mbs_equil.h

@@ -9,7 +9,10 @@
 
 /**
   * Allocate the memory for the Equilibrium Options (but not for all the Equilibrium structure)
-  * Initialize the options structure with default options
+  * Initialize the options structure with default options
+  *
+  * @param mbs_data the MbsData structure of the model for which the equilibrium will be computed
+  * @return An allocated MbsEquil structure.
   */
 MbsEquil* mbs_new_equil(MbsData* mbs_data);
 MbsEquil* mbs_new_equil_aux(MbsData* mbs_data, MbsAux* mbs_aux);
@@ -18,7 +21,9 @@ MbsEquil* mbs_new_equil_aux(MbsData* mbs_data, MbsAux* mbs_aux);
   * Free the Equilibrium structure (pointers table, Equibrium options, ...)
   * 
   * The options (MbsEquilOptions) and MbsAux structures are also freed
-  *
+  *
+  * @param eq the MbsEquil to be freed
+  * @param mbs_data the MbsData structure of the model for which the equilibrium is deleted
   */
 void mbs_delete_equil(MbsEquil* eq, MbsData* mbs_data);
 
@@ -30,7 +35,8 @@ void mbs_delete_equil(MbsEquil* eq, MbsData* mbs_data);
   *
   * The MbsData structure associated is modified (equilibrium configuration, q,qd,Qq  and possibly other parameters m,I,dpt, ... )
   *
-  * @param eq the MbsEquil to be run
+  * @param mbs_equil the MbsEquil to be run
+  * @param mbs_data the MbsData structure of the model for which the equilibrium is computed
   * @return the MbsEquil ...
   *
   */

MBsysC/mbs_common/mbs_module/mbs_modal.h

@@ -46,8 +46,8 @@ MbsModal* mbs_new_modal_aux(MbsData* mbs_data,MbsAux* mbs_aux);
 *
 * The MbsData structure associated should not be modified ??QD
 *
-* @param mo the MbsModal to be run
-* @return the MbsModal ...
+* @param[in,out] mo the MbsModal to be run
+* @param[in] s the MbsData structure of the model for which the modal analysis is computed
 *
 */
 void mbs_run_modal(MbsModal *mo,MbsData *s);

MBsysC/mbs_common/mbs_utilities/lut.h

@@ -46,12 +46,12 @@ MbsLut2D* mbs_lut_2D_alloc();
 
 /*! \brief Release memory used by 1D LUT structure
  * 
- * \param[in,out] 1D LUT structure to release memory
+ * \param[in,out] lut 1D LUT structure to release memory
  */
 void mbs_lut_1D_free(MbsLut1D *lut);
 /*! \brief Release memory used by 2D LUT structure
  * 
- * \param[in,out] 2D LUT structure to release memory
+ * \param[in,out] lut 2D LUT structure to release memory
  */
 void mbs_lut_2D_free(MbsLut2D *lut);
 

MBsysC/mbs_common/mbs_utilities/mbs_buffer.c

 
- /**
+ /** \file mbs_buffer.c
   *
   * Implements function defined in mbs_buffer.h
   * 

MBsysC/mbs_common/mbs_utilities/mbs_buffer.h

-
-
- /**
+ /** \file mbs_buffer.h
   *
   * Define structures and function for storing results during simulation
   * and writing them to disk.
@@ -14,8 +12,9 @@
 #define MBS_BUFFER_h
 
 #include "mbsysc_utilities_export.h"
-
-// IDs for the buffers
+/** 
+  * IDs for the buffers
+  */
 enum{BUFFER_Q, BUFFER_QD, BUFFER_QDD, BUFFER_QQ, BUFFER_UX, BUFFER_UXD, 
     BUFFER_LINK_Z, BUFFER_LINK_ZD, BUFFER_LINK_F, BUFFER_VISU, BUFFER_QC, BUFFER_OTHER};
 
@@ -106,9 +105,14 @@ typedef struct MbsGrowingBuffer{
  * Allocate and initialize a MbsBuffer structure.
  * The associated text file defined by filename is (re-)initialized
  * 
- * @param filename the name of the file associated to this buffer
- * @param nx the size of the array to be tracked by this buffer
- * @param size the size of the buffer
+ * @param[in] filename the name of the file associated to this buffer
+ * @param[in] anim_name the name of the file associated to the animation file (only used for ::BUFFER_Q)
+ * @param[in] nx the size of the array to be tracked by this buffer
+ * @param[in] size the size of the buffer
+ * @param[in] id the buffer ID, see ::BUFFER_Q, ::BUFFER_QD ...
+ * @param[in] save_anim 1 to save the anim file, 0 otherwise
+ * @param[in] save_visu 1 to save the visualization file (as it appears in 'user_realtime_visu.c'), 0 otherwise (for real-time simulation)
+ * @param[in] anim_period time interval between two recorded values in the animation file
  */ 
 MBSYSC_UTILITIES_EXPORT MbsBuffer* mbs_new_buffer(char* filename, char* anim_name, int nx, int size, int id, int save_anim, int save_visu, double anim_period);
 
@@ -116,6 +120,7 @@ MBSYSC_UTILITIES_EXPORT MbsBuffer* mbs_new_buffer(char* filename, char* anim_nam
  * 
  * \param[in] max_nx maximum number of user inputs to save
  * \param[in] size size of the buffer
+ * \param[in] respath path to the file for the results
  * \return new growing buffer initialized
  */
 MBSYSC_UTILITIES_EXPORT MbsGrowingBuffer* mbs_new_growing_buffer(int max_nx, int size, const char *respath);

MBsysC/mbs_common/mbs_utilities/mbs_set.h

@@ -20,7 +20,7 @@ extern "C" {
      /**
       * Set the number of user constraints and update the related structures
       *
-      * @param[in,out] MbsData structure to modify
+      * @param[in,out] mbs_data MbsData structure to modify
       * @param[in] Nuserc number of user constraints
       *
       * This function must be called between mbs_load() and mbs_new_part() in 'main.c'
@@ -29,7 +29,7 @@ extern "C" {
 
     /*! \brief set a variable to independent partition
      * 
-     * \param[in,out] MbsData structure to modify
+     * \param[in,out] mbs_data MbsData structure to modify
      * \param[in] qu variable to set to independent
      *
      * This function must be called between mbs_load() and mbs_new_part() in 'main.c'
@@ -38,7 +38,7 @@ extern "C" {
     
     /*! \brief set a variable to dependent partition
      * 
-     * \param[in,out] MbsData structure to modify
+     * \param[in,out] mbs_data MbsData structure to modify
      * \param[in] qv variable to set to dependent
      *
      * This function must be called between mbs_load() and mbs_new_part() in 'main.c'
@@ -47,7 +47,7 @@ extern "C" {
     
     /*! \brief set a variable to driven partition
      * 
-     * \param[in,out] MbsData structure to modify
+     * \param[in,out] mbs_data MbsData structure to modify
      * \param[in] qdriven variable to set to driven
      *
      * This function must be called between mbs_load() and mbs_new_part() in 'main.c'
@@ -56,7 +56,7 @@ extern "C" {
     
     /*! \brief set a variable to locked partition
      * 
-     * \param[in,out] MbsData structure to modify
+     * \param[in,out] mbs_data MbsData structure to modify
      * \param[in] qlocked variable to set to locked
      *
      * This function must be called between mbs_load() and mbs_new_part() in 'main.c'
@@ -65,7 +65,7 @@ extern "C" {
 
     /*! \brief print the vectors qu, qv, qc, qdriven and qlocked
      *
-     * \param[in] MbsData structure to modify
+     * \param[in] mbs_data MbsData structure to modify
      */
     void print_mbs_q_all(MbsData *mbs_data);
     
@@ -104,7 +104,7 @@ int remove_mbs_q_elem(int *q_vec, int nq, int old_q);
 /*! \brief DEPRECATED; do not use: update the nq variables, SHOULD not be used
  * The function still works, however the number of joint of a specific nature should have been updated at the same time as the nature of the joint was changed. 
  *
- * \param[in,out] MbsData structure to modify
+ * \param[in,out] mbs_data MbsData structure to modify
  * \param[in] new_nqu the new number of independent joints
  * \param[in] new_nqv the new number of dependent joints
  * \param[in] new_nqc the new number of driven and locked joints

MBsysC/mbs_common/mbs_utilities/mbs_tool.h

@@ -27,7 +27,7 @@ void put_matrix(double **m, int nL, int nC, char *name);
 MBSYSC_UTILITIES_EXPORT double *mbs_vector(int n);
 /*! \brief release memory for a vector of doubles, starting at index 1
  *
- * \param[out] vec a vector of doubles
+ * \param[out] v a vector of doubles
  */
 MBSYSC_UTILITIES_EXPORT void free_mbs_vector(double *v);
 
@@ -39,7 +39,7 @@ MBSYSC_UTILITIES_EXPORT void free_mbs_vector(double *v);
 MBSYSC_UTILITIES_EXPORT int *mbs_ivector(int n);
 /*! \brief release memory for a vector of integers, starting at index 1
  *
- * \param[out] vec a vector of doubles
+ * \param[out] v a vector of doubles
  */
 MBSYSC_UTILITIES_EXPORT void free_mbs_ivector(int *v);
 
@@ -52,7 +52,7 @@ MBSYSC_UTILITIES_EXPORT void free_mbs_ivector(int *v);
 MBSYSC_UTILITIES_EXPORT double **mbs_matrix(int nr, int nc);
 /*! \brief release memory for a matrix of doubles, starting at index 1
  *
- * \param[out] mat matrix of doubles
+ * \param[out] m matrix of doubles
  * \param[in] nr number of rows (0 element not taken into account)
  */
 MBSYSC_UTILITIES_EXPORT void free_mbs_matrix(double **m, int nr);

MBsysC/mbs_common/mbs_utilities/useful_functions.h

@@ -163,15 +163,14 @@ MBSYSC_UTILITIES_EXPORT void copy_imat_0(int **tab1, int **tab2, int x, int y);
  * \param[in] x the size of the vector
  */
 MBSYSC_UTILITIES_EXPORT void print_ivec_0(int *vec, int x);
-/*! \brief print a (x sized) vector of integers in console, starting with index 1
+/*! \brief print a vector (of size specified in vec[0]) of integers in console, starting with index 1
  * 
  * \param[in] vec the vector to be printed
- * \param[in] x the size of the vector (0 element not taken into account)
  */
 MBSYSC_UTILITIES_EXPORT void print_ivec_1(int *vec);
  /*! \brief print a [x times y] matrix of integers in console, starting with index 0
  * 
- * \param[in] vec the matrix to be printed
+ * \param[in] mat the matrix to be printed
  * \param[in] x nb of rows
  * \param[in] y nb of columns
  */
@@ -306,11 +305,10 @@ MBSYSC_UTILITIES_EXPORT void free_dmat_1(double **mat);
  * \param[in] x size of the vectors
  */
 MBSYSC_UTILITIES_EXPORT void copy_dvec_0(double *vec1, double *vec2, int x);
-/*! \brief Copy the content of a vector (of size x) of doubles to a second vector, starting with index 1
+/*! \brief Copy the content of a vector (of size specified in vec1[0]) of doubles to a second vector, starting with index 1
  *
- * \param[in] vec1 the original vector of doubles, starting with index 1
- * \param[out] vec2 the copy of vec1, starting with index 1
- * \param[in] x size of the vectors (0 element not taken into account)
+ * \param[in] vec1 the original vector of doubles(of size specified in vec1[0]), starting with index 1
+ * \param[out] vec2 (already allocated at size specified in vec1[0]) the copy of vec1, starting with index 1
  */
 MBSYSC_UTILITIES_EXPORT void copy_dvec_1(double *vec1, double *vec2);
  /*! \brief Copy the content of a [x times y] matrix of doubles to a second matrix, starting with index 0
@@ -328,15 +326,14 @@ MBSYSC_UTILITIES_EXPORT void copy_dmat_0(double **tab1, double **tab2, int x, in
  * \param[in] x the size of the vector
  */
 MBSYSC_UTILITIES_EXPORT void print_dvec_0(double *vec, int x);
-/*! \brief print a (x sized) vector of doubles in console, starting with index 1
+/*! \brief print a vector (of size specified in vec[0]) of doubles in console, starting with index 1
  * 
  * \param[in] vec the vector to be printed
- * \param[in] x the size of the vector (0 element not taken into account)
  */
 MBSYSC_UTILITIES_EXPORT void print_dvec_1(double *vec);
  /*! \brief print a [x times y] matrix of doubles in console, starting with index 0
  * 
- * \param[in] vec the matrix to be printed
+ * \param[in] mat the matrix to be printed
  * \param[in] x nb of rows
  * \param[in] y nb of columns
  */