[Doc] Fix Issue #195 and remove a lot of error/warning message at documentation generation.

MBsysC/mbs_common/mbs_load_xml/mbs_xml_binder_public.h

@@ -9,19 +9,19 @@
 
 typedef struct MbsInfoDData
 {
-    int d_type;    //! other = 0; simplified = 1, forced = 2, optimized = 3, resulting = 4, related = 5,
-    double d_0;    //! initial value for optimization
-    double d_min;  //! bounds values for optimization
-    double d_max;  //! bounds values for optimization
-    double d_opti; //! result value of optimization
+    int d_type;    //!< other = 0; simplified = 1, forced = 2, optimized = 3, resulting = 4, related = 5,
+    double d_0;    //!< initial value for optimization
+    double d_min;  //!< bounds values for optimization
+    double d_max;  //!< bounds values for optimization
+    double d_opti; //!< result value of optimization
 
     // the following variables are "comptute" in "MDS_opti_structurer"
-    int is_related; //! unrelated = 0, master = 1, equal salve = 2, opposite slave = 3
+    int is_related; //!< unrelated = 0, master = 1, equal salve = 2, opposite slave = 3
     struct MbsInfoDData *master_d_ptr;
 
     double *d_ptr;
 
-    double *MBSdata_d_ptr; //! link in the creation of mbs_data
+    double *MBSdata_d_ptr; //!< link in the creation of mbs_data
 
 } MbsInfoDData;
 
@@ -30,8 +30,8 @@ typedef struct MbsInfoDData
  */
 typedef struct MbsInfoRefPoint
 {
-    char *bodyname; //! Name of the body that bear the reference point (origin of the joint chain until first body encounter).
-    char *pointname;//! Name of the reference point on the previous body.
+    char *bodyname; //!< Name of the body that bear the reference point (origin of the joint chain until first body encounter).
+    char *pointname;//!< Name of the reference point on the previous body.
 
 } MbsInfoRefPoint;
 
@@ -40,15 +40,15 @@ typedef struct MbsInfoRefPoint
  */
 typedef struct MbsInfoSensor
 {
-    char *name; //! Name of the sensor
+    char *name; //!< Name of the sensor
 
-    int Pos;    //! 1 if the computation of the sensor position has been asked, 0 otherwise.
-    int Rot;    //! 1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
-    int Vit;    //! 1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
-    int Om;     //! 1 if the computation of the sensor angular velocity has been asked, 0 otherwise.
-    int Acc;    //! 1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
-    int Omp;    //! 1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.
-    int Jac;    //! 1 if the computation of the sensor Jacobian (\f$ \frac{dV_{sens}}{d\dot{q}} \f$) has been asked, 0 otherwise.
+    int Pos;    //!< 1 if the computation of the sensor position has been asked, 0 otherwise.
+    int Rot;    //!< 1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
+    int Vit;    //!< 1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
+    int Om;     //!< 1 if the computation of the sensor angular velocity has been asked, 0 otherwise.
+    int Acc;    //!< 1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
+    int Omp;    //!< 1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.
+    int Jac;    //!< 1 if the computation of the sensor Jacobian (\f$ \frac{dV_{sens}}{d\dot{q}} \f$) has been asked, 0 otherwise.
 
 } MbsInfoSensor;
 
@@ -59,12 +59,12 @@ typedef struct MbsInfoExtforce
 {
     char *name;
 
-    int Pos;    //! 1 if the computation of the sensor position has been asked, 0 otherwise.
-    int Rot;    //! 1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
-    int Vit;    //! 1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
-    int Om;     //! 1 if the computation of the sensor angular velocity has been asked, 0 otherwise.
-    int Acc;    //! 1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
-    int Omp;    //! 1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.
+    int Pos;    //!< 1 if the computation of the sensor position has been asked, 0 otherwise.
+    int Rot;    //!< 1 if the computation of the sensor rotation matrix has been asked, 0 otherwise.
+    int Vit;    //!< 1 if the computation of the sensor linear velocity has been asked, 0 otherwise.
+    int Om;     //!< 1 if the computation of the sensor angular velocity has been asked, 0 otherwise.
+    int Acc;    //!< 1 if the computation of the sensor linear acceleration has been asked, 0 otherwise.
+    int Omp;    //!< 1 if the computation of the sensor angular acceleration has been asked, 0 otherwise.
 
 } MbsInfoExtforce;
 
@@ -73,12 +73,12 @@ typedef struct MbsInfoExtforce
  */
 typedef struct MbsInfoPoint
 {
-    char *name; //! Name of the point
-    char *body_name; //! Name of the body holding the point
-    double *pt; //! Array with the coordinates (x, y, z) of the point relative to the origin of the body expressed in the body frame.
+    char *name; //!< Name of the point
+    char *body_name; //!< Name of the body holding the point
+    double *pt; //!< Array with the coordinates (x, y, z) of the point relative to the origin of the body expressed in the body frame.
 
-    MbsInfoSensor *sensor;     //! Pointer to a sensor structure if a sensor is defined on the point.
-    MbsInfoExtforce *extforce; //! Pointer to an external force sensor structure if it is defined on the point.
+    MbsInfoSensor *sensor;     //!< Pointer to a sensor structure if a sensor is defined on the point.
+    MbsInfoExtforce *extforce; //!< Pointer to an external force sensor structure if it is defined on the point.
 
     MbsInfoDData **d_pt; // x y z
     int is_symmmetric; // asymmetric = 0, symmetric master = 1, symmetric salve = 2
@@ -91,9 +91,9 @@ typedef struct MbsInfoPoint
  */
 typedef struct MbsInfoBase
 {
-    double *gravity;    //! Array with the component (x, y, z) of the gravity vector expressed in the inertial frame.
-    int n_base_point;   //! Number of point of interest (extremities of joint bearing a sensor plus anchor point) defined on the MBS.
-    MbsInfoPoint **base_point_list; //! Array of pointers to the MDS_point_strct describing each point of the MBS.
+    double *gravity;    //!< Array with the component (x, y, z) of the gravity vector expressed in the inertial frame.
+    int n_base_point;   //!< Number of point of interest (extremities of joint bearing a sensor plus anchor point) defined on the MBS.
+    MbsInfoPoint **base_point_list; //!< Array of pointers to the MDS_point_strct describing each point of the MBS.
 
 } MbsInfoBase;
 
@@ -102,19 +102,19 @@ typedef struct MbsInfoBase
  */
 typedef struct MbsInfoJoint
 {
-    char *name; //! Name of the joint
-    int type;   //! Joint type: T1=1, T2=2, T3=3, R1=4, R2=5, R3=6
-    int nature; //! Nature of the joint: independent=1, dependent=2, driven=3
+    char *name; //!< Name of the joint
+    int type;   //!< Joint type: T1=1, T2=2, T3=3, R1=4, R2=5, R3=6
+    int nature; //!< Nature of the joint: independent=1, dependent=2, driven=3
 
-    double q0;  //! Initial position of the joint
-    double qd0; //! Initial velocity of the joint
-    double qdd0;//! Initial acceleration of the joint
+    double q0;  //!< Initial position of the joint
+    double qd0; //!< Initial velocity of the joint
+    double qdd0;//!< Initial acceleration of the joint
 
-    int actuated;//! For inverse dynamic only: 1 if actuated, 0 otherwise
+    int actuated;//!< For inverse dynamic only: 1 if actuated, 0 otherwise
 
-    MbsInfoDData *d_qf; //! d_data for the forced q
-    int is_symmmetric;      //! asymmetric = 0, symmetric master = 1, symmetric salve = 2
-    char *symmetric_joint_name; //! the name of the symmetric joint (filed if master, NULL if slave or non symetric)
+    MbsInfoDData *d_qf; //!< d_data for the forced q
+    int is_symmmetric;      //!< asymmetric = 0, symmetric master = 1, symmetric salve = 2
+    char *symmetric_joint_name; //!< the name of the symmetric joint (filed if master, NULL if slave or non symetric)
 
 
 } MbsInfoJoint;
@@ -124,19 +124,19 @@ typedef struct MbsInfoJoint
  */
 typedef struct MbsInfoBody
 {
-    char *name; //! Name of the body.
+    char *name; //!< Name of the body.
 
-    MbsInfoRefPoint* parent; //! Description of the parent point of the current body.
+    MbsInfoRefPoint* parent; //!< Description of the parent point of the current body.
 
-    int n_joint;                 //! Number of joints leaving the body.
-    MbsInfoJoint **joint_list;//! Array of pointers to the MDS_joint_strct describing each joint leaving the body.
+    int n_joint;                 //!< Number of joints leaving the body.
+    MbsInfoJoint **joint_list;//!< Array of pointers to the MDS_joint_strct describing each joint leaving the body.
 
-    double mass; //! Mass of the body
-    double *com; //! Array with the coordinate (x, y, z) of the center of mass of the body relative to the origin of the body expressed in the body frame.
-    double *inertia; //! Array with the inertia tensor (Ixx, Ixy, Ixz, Iyy, Iyz, Izz) of the body relative to the center of mass expressed in the body frame.
+    double mass; //!< Mass of the body
+    double *com; //!< Array with the coordinate (x, y, z) of the center of mass of the body relative to the origin of the body expressed in the body frame.
+    double *inertia; //!< Array with the inertia tensor (Ixx, Ixy, Ixz, Iyy, Iyz, Izz) of the body relative to the center of mass expressed in the body frame.
 
-    int n_point; //! Number of point defined on the body.
-    MbsInfoPoint **point_list; //! Array of pointers to the MDS_point_strct describing each point of current body.
+    int n_point; //!< Number of point defined on the body.
+    MbsInfoPoint **point_list; //!< Array of pointers to the MDS_point_strct describing each point of current body.
 
 } MbsInfoBody;
 
@@ -240,10 +240,10 @@ typedef struct MbsInfoLinks
 typedef struct MbsInfoParameter
 {
     char *name;
-    int type; // scalar=1 ;  vector=2 ; lut1D=3 ; lut2D=4 ; state=5 ; structure=6 : integer=7
+    int type; //!< scalar=1 ;  vector=2 ; lut1D=3 ; lut2D=4 ; state=5 ; structure=6 : integer=7
     int n_value;
     double *value_list;
-    
+
     /** pointer to the memory storing the value in the UserModel structure (redundant with MbsInfoDData **d_value but simpler) **/
     void* val_ptr;
 

MBsysC/mbs_common/mbs_module/MBSfun.h

@@ -11,7 +11,7 @@
 #define MBSfun_h
 /*--------------------*/
 
- 
+
 #include "mbs_data.h"
 #include "mbs_aux.h"
 #include "mbs_sensor_struct.h"
@@ -21,7 +21,7 @@
 //void checkMBSdata(MbsData *MBSdata);
 
 //void storeMBSdata(MbsData *s, char *s_name);
-                      
+
 
 int dirdynared(MbsAux *mbs_aux,MbsData *s);
 int invdynared(MbsAux *mbs_aux, MbsData *s);
@@ -31,19 +31,19 @@ int invdynared(MbsAux *mbs_aux, MbsData *s);
 * necessary for
 *        - the state space representation (computation of A) and then the modal analysis.
 *
-* \p aux [in,out], the local computation structure, where the result is stored in the variable Mr.
-* \p s     [in,out], the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
+* \p[in,out] mbs_aux the local computation structure, where the result is stored in the variable Mr.
+* \p[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
 */
 int mbs_Mred(MbsAux *mbs_aux, MbsData *s);
 
 /**
 * \brief compute Rred, the reduced equations of motions on a residual form [nqu x 1] obtained after the 2 consecutive reductions (Robotran Basics).
-* necessary for 
+* necessary for
 *        - equilibrium (even with non zero acceleration)
 *        - linearization of MBS: obtention of Gr Kr around a given configuration (*) [not necessarely an equilibrium]
 *
-* \p aux [in,out], the local computation structure, where the result Rred is stored. 
-* \p s     [in,out], the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated. 
+* \p[in,out] mbs_aux the local computation structure, where the result Rred is stored.
+* \p[in,out] s       the MbsData of the system, where q(iqv),qd(iqv) and qdd(iqv) are updated.
 */
 int mbs_Rred(MbsAux *mbs_aux, MbsData *s);
 
@@ -54,8 +54,8 @@ int mbs_Rred(MbsAux *mbs_aux, MbsData *s);
 * This function assumes that all independent joints and all driven joints are
 * up-to-date (coordinates, velocities and accelerations).
 *
-* \p aux [in,out], the local computation structure, where the result Rred and Qc are stored.
-* \p s     [in,out], the MbsData of the system, where q[qv], qd[qv], qdd[qv] and Qc are updated.
+* \p[in,out] mbs_aux  the local computation structure, where the result Rred and Qc are stored.
+* \p[in,out] s        the MbsData of the system, where q[qv], qd[qv], qdd[qv] and Qc are updated.
 */
 int mbs_Rred_core(MbsAux *mbs_aux, MbsData *s);
 
@@ -126,6 +126,6 @@ void mbs_calc_jdqd(MbsData *s, MbsAux *mbs_aux);
  * \param[in,out] s the MbsData structure.
  */
 void mbs_calc_force(MbsData *s);
-                      
+
 /*--------------------*/
 #endif

MBsysC/mbs_common/mbs_module/mbs_dirdyn.h

@@ -24,19 +24,19 @@ extern "C" {
 
 
 /** @brief Enumeration of the possible computation of Qc in dirdyn
-* 
+*
 *
 *    // Set the choice in main :
 *   mbs_dirdyn->options->flag_compute_Qc = COMPUTE_NO_QC;
 *   - mbs_dirdyn->options->flag_compute_Qc[2] = 1; // if Qc(1) is wanted
-*   
+*
 *  - BY DEFAULT : COMPUTE_ALL_QC
-*  - COMPUTE_NO_QC will produce no computation of Qc at all during the dirdynared process 
+*  - COMPUTE_NO_QC will produce no computation of Qc at all during the dirdynared process
 *     (and print 0.0 in the dirdyn_Qc file)
-*  - COMPUTE_CUSTOM_QC will compute only some Qc that the user can  chose by setting 
+*  - COMPUTE_CUSTOM_QC will compute only some Qc that the user can  chose by setting
 *     mbs_dirdyn->compute_Qc_vec[index] to 1 when the Qc at index is wanted
 *     mbs_dirdyn->compute_Qc_vec[] is of size mbs_data->nqc+1 and will be like :
-*     [nqc 0 0 1 0 0 ] if the third qc is wanted and nqc = 5 
+*     [nqc 0 0 1 0 0 ] if the third qc is wanted and nqc = 5
 */
 enum { COMPUTE_ALL_QC, COMPUTE_NO_QC, COMPUTE_CUSTOM_QC };
 
@@ -48,7 +48,7 @@ enum { COMPUTE_ALL_QC, COMPUTE_NO_QC, COMPUTE_CUSTOM_QC };
   * \param mbs_data the data structure of the model for which
   *             the time integration will be computed
   */
- 
+
 MbsDirdyn* mbs_new_dirdyn(MbsData* mbs_data);
 
  /**
@@ -65,7 +65,7 @@ MbsDirdyn* mbs_new_dirdyn_aux(MbsData* mbs_data, MbsAux* mbs_aux);
  /**
   * Run the direct dynamic simulation
   *
-  * The MbsData structure associated to dirdyn is modified 
+  * The MbsData structure associated to dirdyn is modified
   *
   * @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
@@ -76,7 +76,7 @@ void mbs_run_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data);
 
  /**
   * Run the startup operations of the run_dirdyn function
-  * 
+  *
   */
 void mbs_dirdyn_init(MbsDirdyn* dirdyn, MbsData* mbs_data);
 
@@ -86,13 +86,13 @@ void mbs_dirdyn_init(MbsDirdyn* dirdyn, MbsData* mbs_data);
   *  - call the time integrator
   *  - call the discrete state functions
   *  - call the storing function
-  */ 
+  */
 void mbs_dirdyn_loop(MbsDirdyn* dirdyn, MbsData* mbs_data);
 
 
  /**
   * Run the finalization operations of the run_dirdyn function
-  */ 
+  */
 void mbs_dirdyn_finish(MbsDirdyn* dirdyn, MbsData* mbs_data);
 
 
@@ -100,7 +100,7 @@ void mbs_dirdyn_finish(MbsDirdyn* dirdyn, MbsData* mbs_data);
   * Free memory of the direct dynamic structure
   * The options (MbsDirdynOptions) and MbsAux structures are also freed
   */
- 
+
 void mbs_delete_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data);
 
  /**
@@ -122,7 +122,7 @@ void mbs_delete_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data);
   * This is usefull for writing simulation results at the end of the simulation.
   * This sepcific function is written to be able to ask for writing buffer from
   * python.
-  * 
+  *
   *  \p dd the MbsDirdyn struct for which the buffers must be written
   * \return error (0 if no error)
   */
@@ -130,7 +130,7 @@ int mbs_dirdyn_write_buffers(MbsDirdyn* dd);
 
 /*! \brief direct dynamics derivative computation
  *
- * \param[in] tsim current simulation time [s]
+ * \param[in] t current simulation time [s]
  * \param[in] y state vector of size n
  * \param[out] dydt derivative
  * \param[in,out] s Robotran main structure

MBsysC/mbs_common/mbs_module/mbs_invdyn.h

 /**
- * @file mbs_invyn.h
+ * @file mbs_invdyn.h
  *
  * This header defines functions of the invdyn module in C.
  *

MBsysC/mbs_common/mbs_module/mbs_part.h

@@ -12,13 +12,13 @@
   */
 typedef struct MbsPartOptions
 {
-    int rowperm;       //! 1 to allow line permutation; 0 otherwise, defaut = 0
+    int rowperm;       //!< 1 to allow line permutation; 0 otherwise, defaut = 0
     int visualise; // no = 0, yes = 1, defaut = 0
     int drivers; // no = 0, yes = 1, defaut = 0
-    int verbose;       //! 1 to get print indications related partitioning module; 0 otherwise, defaut = 1
+    int verbose;       //!< 1 to get print indications related partitioning module; 0 otherwise, defaut = 1
     int clearmbsglobal; // inout = 1, out = 2, none = 3, all = 4, defaut = 1
-    double random_amplitude; //! Amplitude of the random troubleshoot added to the initial value of generalized coordinates.
-                             //! This randomized value are only used to determine the rank of the Jacobian matrix, default = 1e-2.
+    double random_amplitude; //!< Amplitude of the random troubleshoot added to the initial value of generalized coordinates.
+                             //!< This randomized value are only used to determine the rank of the Jacobian matrix, default = 1e-2.
 
 } MbsPartOptions;
 
@@ -32,21 +32,21 @@ typedef struct MbsPartOptions
 
 typedef struct MbsPart
 {
-    MbsPartOptions *options; //! Structure containing the options for coordinate partitioning module
+    MbsPartOptions *options; //!< Structure containing the options for coordinate partitioning module
 
-    int n_qu;       //! Number of independent variable needed
-    int *ind_qu;    //! Array with the indices of best choice for independent variables
+    int n_qu;       //!< Number of independent variable needed
+    int *ind_qu;    //!< Array with the indices of best choice for independent variables
 
-    int n_qv;       //! Number of dependent variable needed
-    int *ind_qv;    //! Array with the indices of best choice and order for dependent variables
+    int n_qv;       //!< Number of dependent variable needed
+    int *ind_qv;    //!< Array with the indices of best choice and order for dependent variables
 
-    int n_hu;       //! Number of independent constraint
-    int *ind_hu;    //! Array with the indices of best choice for independent constraints 
+    int n_hu;       //!< Number of independent constraint
+    int *ind_hu;    //!< Array with the indices of best choice for independent constraints
 
-    int n_hv;       //! Number of redundant constraint
-    int *ind_hv;    //! Array with the indices of best choice for redundant constraints 
+    int n_hv;       //!< Number of redundant constraint
+    int *ind_hv;    //!< Array with the indices of best choice for redundant constraints
 
-    double *q_closed; //! Array with the generalized coordinate in closed configuration (constraints solved)
+    double *q_closed; //!< Array with the generalized coordinate in closed configuration (constraints solved)
 
 } MbsPart;
 
@@ -59,7 +59,7 @@ extern "C" {
   * \brief Main function of the coordinate partitioning module.
   * It compute the coordinate partitioning for the given
   * MbsData structure.
-  * 
+  *
   * @param mbs_part the coord. part. structure
   * @param mbs_data the structure of the mbs for which the coord.
   *       part. must be performed
@@ -67,7 +67,7 @@ extern "C" {
   */
  void mbs_run_part(MbsPart*  mbs_part, MbsData* mbs_data);
 
- /** 
+ /**
   * \brief Allocate a new MbsPart structure for the given MbsData structure.
   * A new MbsPartOptions is also allocated and a pointer
   * to this structure is kept from the new MbsPart.

MBsysC/mbs_common/mbs_numerics/mbs_integrators/euler_implicit.c

 /**
-* \file eulerIm.c
+* \file euler_implicit.c
 *
 * \brief This file implements the functions of the
 * Euler Implicit integrator in C. Warning : not working yet
@@ -9,7 +9,7 @@
 * \author Sebastien Timmermans
 *
 * @source   Arnold M. et al, Linearly implicit time integration methods in real-time applications: DAEs and stiff ODEs
-*             Multibody System Dynamics, 2007, 17:99117
+*             Multibody System Dynamics, 2007, 17:99-117
 *
 * (c) Universite catholique de Louvain
 */
@@ -103,7 +103,7 @@ int euler_implicit(double y[], double dydx[], int n, double *x, double h, double
     for (k = 0; k < nqu; k++)
     {
         /// B =  qdd + h * Jp * Xv
-        B[k] = dysav[nqu + k] + h * jpxv[k]; // acc index start at nqu 
+        B[k] = dysav[nqu + k] + h * jpxv[k]; // acc index start at nqu
     }
 
     int err = 0;

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_custom.h

@@ -2,14 +2,14 @@
  * \file mbs_custom.h
  *
  * \brief This header defines global functions for custom integrator in C.
- *         Advanced user can modify this file 
+ *         Advanced user can modify this file
  *
  * Creation date: May 2018
  * \author Sebastien Timmermans
  *
  * (c) Universite catholique de Louvain
  */
- 
+
  #ifndef MBS_CUSTOM_H_INCLUDED
 #define MBS_CUSTOM_H_INCLUDED
 
@@ -26,11 +26,11 @@
  */
 typedef struct MbsDirdynCustom
 {
-    double *yt2;  //! allocated state vector
+    double *yt2;  //!< allocated state vector
 
 } MbsDirdynCustom;
 
-/** @brief Initialize all needed fields in MbsDirdyn for Custom integrator 
+/** @brief Initialize all needed fields in MbsDirdyn for Custom integrator
  *
  * @param mbs_data  The computed MBS structure
  * @param mbs_dd    The associated MbsDirdyn structure

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_dopri5.h

@@ -9,7 +9,7 @@
  *
  * (c) Universite catholique de Louvain
  */
- 
+
  #ifndef MBS_DOPRI5_H_INCLUDED
 #define MBS_DOPRI5_H_INCLUDED
 
@@ -29,13 +29,13 @@
   */
 typedef struct MbsDirdynDopri5
 {
-    int flag_save; //! 1 if first dydt save done, 0 otherwise
+    int flag_save; //!< 1 if first dydt save done, 0 otherwise
 
-    double solout_last_t; //! last time solout was called
+    double solout_last_t; //!< last time solout was called
 
-    double *dydt_save; //! save dydt of the last time step
+    double *dydt_save; //!< save dydt of the last time step
 
-    double **alloc_tab; //! allocated state vectors
+    double **alloc_tab; //!< allocated state vectors
 
 } MbsDirdynDopri5;
 
@@ -53,7 +53,6 @@ void initialize_dopri5(MbsData *mbs_data, MbsDirdyn *mbs_dd);
  * @param tf    The final time
  * @param mbs_data  The computed MBS structure
  * @param mbs_dd    The associated MbsDirdyn structure
- * @param fileout   Target for output message
  */
 void loop_dopri5(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd);
 

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rk4.c

@@ -13,7 +13,7 @@
 * (c) Universite catholique de Louvain
 *
 */
-#include "mbs_rk4.h" 
+#include "mbs_rk4.h"
 
 void initialize_rk4(MbsData *mbs_data, MbsDirdyn *mbs_dd) {
 
@@ -80,4 +80,4 @@ void finish_rk4(MbsData *mbs_data, MbsDirdyn *dd) {
         free(((MbsDirdynRK4 *)dd->integrator_struct)->dyt);
         free(((MbsDirdynRK4 *)dd->integrator_struct)->dym);
     }
-}
\ No newline at end of file
+}

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rk4.h

@@ -6,14 +6,14 @@
  *
  * Creation date: December 2017
  * \author Olivier Lantsoght
- * 
+ *
  * Modification date: April 2018
  * \modified by Sebastien Timmermans
  *
  *
  * (c) Universite catholique de Louvain
  */
- 
+
 #ifndef MBS_RK4_H_INCLUDED
 #define MBS_RK4_H_INCLUDED
 
@@ -30,9 +30,9 @@
  */
 typedef struct MbsDirdynRK4
 {
-    double *yt;  //! allocated state vector
-    double *dyt; //! allocated derivative vector
-    double *dym; //! allocated saved derivative vector
+    double *yt;  //!< allocated state vector
+    double *dyt; //!< allocated derivative vector
+    double *dym; //!< allocated saved derivative vector
 
 } MbsDirdynRK4;
 

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rosenbrock.h

@@ -11,7 +11,7 @@
  *
  * (c) Universite catholique de Louvain
  */
- 
+
  #ifndef MBS_ROSENBROCK_H_INCLUDED
 #define MBS_ROSENBROCK_H_INCLUDED
 
@@ -28,11 +28,11 @@
  */
 typedef struct MbsDirdynRosenbrock
 {
-   int flag_save; //! 1 if first dydt save done, 0 otherwise
+   int flag_save; //!< 1 if first dydt save done, 0 otherwise
 
-   double solout_last_t; //! last time solout was called (0.0 by default)
+   double solout_last_t; //!< last time solout was called (0.0 by default)
 
-   double *dydt_save; //! save dydt of the last time step
+   double *dydt_save; //!< save dydt of the last time step
 
    int  *indx;
    double **a, *dfdx, **dfdy, *dysav, *err;

MBsysC/mbs_common/mbs_numerics/mbs_linalg.h

@@ -29,7 +29,7 @@ int mbs_eig_0(double **A, int n, double *eval_a, double *eval_b, double **evec_a
 * n         : size of the matrix
 * WR        : Result of the Eigenvalue problem: real part of the n eigen values    (ordered as they appear on the diagonal of the output Schur form T [n x 1]
 * WI        : Result of the Eigenvalue problem: real part of the n eigen values    (ordered as they appear on the diagonal of the output Schur form T [n x 1]
-* T         : (Re-ordered) schur decomposition matrix 
+* T         : (Re-ordered) schur decomposition matrix
 * Z            : (Re-ordered) orthogonal matrix Z of Schur vectors    [n X n]
 * reorder   : flag for re-ordering  1=re-ordered 0=non-ordered   (default 1)
 */
@@ -37,15 +37,15 @@ int mbs_schur_0(double **A, int n, double **T, double **Z, double *WR, double *W
 
 /**
 *
-* \param[in] A : matrix for the rank computation
-* \param[in] x : matrix first dimension
-* \param[in] y : matrix second dimension
+* \param[in] A matrix for the rank computation
+* \param[in] m matrix first dimension
+* \param[in] n matrix second dimension
 */
 int mbs_rank_0(double** A, int m, int n);
 
 /**
 * Compute the Cholesky decomposition of A, i.e.
-* the upper triangular matrix L 
+* the upper triangular matrix L
 *
 * /!\/!\/!\ the upper triangular matrix is expressed in COL major /!\/!\/!\
 *
@@ -65,10 +65,10 @@ int  mbs_choldc_0(double **A, int n);
 *
 ** /!\/!\/!\ the B and the X(solution) matrices are expressed in COL major /!\/!\/!\
 *
-* \param[in,out] In COLUMN major the leading N-by-N upper triangular part of A contains the upper triangular part of the matrix A
-* \param[in]     n : size of the A matrix
-* \param[in,out] b : On entry - In COLUMN major - the right hand side matrix B.  On exit - In COLUMN major - the solution matrix X.
-* \param[in]     nb: number of vectors for the RHS matrix B.
+* \param[in,out] A COLUMN major the leading N-by-N upper triangular part of A contains the upper triangular part of the matrix A
+* \param[in]     n size of the A matrix
+* \param[in,out] B On entry - In COLUMN major - the right hand side matrix B.  On exit - In COLUMN major - the solution matrix X.
+* \param[in]     nb number of vectors for the RHS matrix B.
 *
 */
 int mbs_cholsl_0(double **A, int n, double **B, int nb);

MBsysC/mbs_common/mbs_numerics/riccati.h

@@ -13,23 +13,23 @@
 
 typedef struct MbsRiccati
 {
-    // Note that the Riccati Equation is written: 
+    // Note that the Riccati Equation is written: