control_toolbox/Reviews/2010-01-12_Doc_Review

Reviewers: Wim, John

I've generated the most up-to-date doxygen locally (pending release):

• file:///wg/stor1a/sglaser/tmp/temprosdoc/control_toolbox/html/index.html

Instructions for doing a doc review

See DocReviewProcess for more instructions

Wim

• PID

  • Init from a RosNode is not documented

  • Providing the derivative of the error as an optional argument is not documented. It would be good to document the purpose of this extra argument: it allows you to override the computation of the derivative.
• ramp
  • the doxygen comments seem to be copied from the sinesweep, and do not match the ramop.
• dither
  • it seems strange that the dither can only be initialized from a ros node, while all other tools can also(/only) take their arguments in the init method.
• pid gain setter
  • the ros api of the gain setter is not documented. When multiple pid's are added, how do you distinguish between them in the ros api?

    • Described now.

• Does the documentation define the Users of your Package, i.e. for the expected usages of your Stack, which APIs will users engage with?
• Are all of these APIs documented?
• Do relevant usages have associated tutorials? (you can ignore this if a Stack-level tutorial covers the relevant usage), and are the indexed in the right places?
• If there are hardware dependencies of the Package, are these documented?
• Is it clear to an outside user what the roadmap is for the Package?
• Is it clear to an outside user what the stability is for the Package?
• Are concepts introduced by the Package well illustrated?
• Is the research related to the Package referenced properly? i.e. can users easily get to relevant papers?
• Are any mathematical formulas in the Package not covered by papers properly documented?

For each launch file in a Package

1. Is it clear how to run that launch file?
2. Does the launch file start up with no errors when run correctly?
3. Do the Nodes in that launch file correctly use ROS_ERROR/ROS_WARN/ROS_INFO logging levels?

Concerns / issues

John (file:///wg/stor1a/sglaser/tmp/temprosdoc/control_toolbox/html/index.html)

• file:///wg/stor1a/sglaser/tmp/temprosdoc/control_toolbox/html/index.html missing descriptions for Ramp Output and Sine Sweep.

• should mention how i_clamp truncates i_error_ or i_term_ in file:///wg/stor1a/sglaser/tmp/temprosdoc/control_toolbox/html/classcontrol__toolbox_1_1Pid.html.

• Make existing text-based equations in Pid Class description into equations.
• Not important, but just noting that equations in sinesweep contains slightly fuzzy font.
• Dither needs more description. Not clear what the amplitude/bandwidth of the white noise is.

Conclusion