Standardize Doxygen parameter formatting for systems O-Z

src/systems/odometry_publisher/OdometryPublisher.hh

@@ -36,44 +36,44 @@ namespace systems
  /// order to periodically publish 2D or 3D odometry data in the form of
  /// gz::msgs::Odometry messages.
  ///
- /// # System Parameters
+ /// ## System Parameters
  ///
- /// `<odom_frame>`: Name of the world-fixed coordinate frame for the
+ /// - `<odom_frame>`: Name of the world-fixed coordinate frame for the
  // odometry message. This element is optional, and the default value
  /// is `{name_of_model}/odom`.
  ///
- /// `<robot_base_frame>`: Name of the coordinate frame rigidly attached
+ /// - `<robot_base_frame>`: Name of the coordinate frame rigidly attached
  /// to the mobile robot base. This element is optional, and the default
  /// value is `{name_of_model}/base_footprint`.
  ///
- /// `<odom_publish_frequency>`: Odometry publication frequency. This
+ /// - `<odom_publish_frequency>`: Odometry publication frequency. This
  /// element is optional, and the default value is 50Hz.
  ///
- /// `<odom_topic>`: Custom topic on which this system will publish odometry
+ /// - `<odom_topic>`: Custom topic on which this system will publish odometry
  /// messages. This element is optional, and the default value is
  /// `/model/{name_of_model}/odometry`.
  ///
- /// `<odom_covariance_topic>`: Custom topic on which this system will publish
- /// odometry with covariance messages. This element is optional, and the
- /// default value is `/model/{name_of_model}/odometry_with_covariance`.
+ /// - `<odom_covariance_topic>`: Custom topic on which this system will
+ /// publish odometry with covariance messages. This element is optional, and
+ /// the default value is `/model/{name_of_model}/odometry_with_covariance`.
  ///
- /// `<tf_topic>`: Custom topic on which this system will publish the
+ /// - `<tf_topic>`: Custom topic on which this system will publish the
  /// transform from `odom_frame` to `robot_base_frame`. This element is
  /// optional, and the default value is `/model/{name_of_model}/pose`.
  ///
- /// `<dimensions>`: Number of dimensions to represent odometry. Only 2 and 3
+ /// - `<dimensions>`: Number of dimensions to represent odometry. Only 2 and 3
  /// dimensional spaces are supported. This element is optional, and the
  /// default value is 2.
  ///
- /// `<xyz_offset>`: Position offset relative to the body fixed frame, the
+ /// - `<xyz_offset>`: Position offset relative to the body fixed frame, the
  /// default value is 0 0 0. This offset will be added to the odometry
  /// message.
  ///
- /// `<rpy_offset>`: Rotation offset relative to the body fixed frame, the
+ /// - `<rpy_offset>`: Rotation offset relative to the body fixed frame, the
  /// default value is 0 0 0. This offset will be added to the odometry
- ///  message.
+ /// message.
  ///
- /// `<gaussian_noise>`: Standard deviation of the Gaussian noise to be added
+ /// - `<gaussian_noise>`: Standard deviation of the Gaussian noise to be added
  /// to pose and twist messages. This element is optional, and the default
  /// value is 0.
  class OdometryPublisher

src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh

@@ -37,54 +37,52 @@ namespace systems
  ///
  /// It requires that contact sensor and depth camera be placed in at least
  /// one link on the model on which this plugin is attached.
- /// TODO:
+ ///
+ /// \todo(anyone)
  /// Currently, the contacts returned from the physics engine (which tends to
  /// be sparse) and the normal forces separately computed from the depth
  /// camera (which is dense, resolution adjustable) are disjoint. It is
  /// left as future work to combine the two sets of data.
  ///
- /// Parameters:
+ /// ## System Parameters
  ///
- /// <enabled> Set this to true so the plugin works from the start and
- ///  doesn't need to be enabled. This element is optional, and the
- ///  default value is true.
+ /// - `<enabled>`: Set this to true so the plugin works from the start and
+ /// doesn't need to be enabled. This element is optional, and the
+ /// default value is true.
  ///
- /// <namespace> Namespace for transport topics/services. If there are more
- /// than one optical tactile plugins, their namespaces should
- /// be different.
- /// This element is optional, and the default value is
- /// "optical_tactile_sensor".
- /// /<namespace>/enable : Service used to enable and disable the
- /// plugin.
- /// /<namespace>/normal_forces : Topic where a message is
- /// published each time the
- /// normal forces are computed
+ /// - `<namespace>`: Namespace for transport topics/services. If there are
+ /// more than one optical tactile plugins, their namespaces should
+ /// be different. This element is optional, and the default value is
+ /// "optical_tactile_sensor".
+ /// - `/<namespace>/enable`: Service used to enable and disable the plugin.
+ /// - `/<namespace>/normal_forces`: Topic where a message is
+ /// published each time the normal forces are computed
  ///
- /// <visualization_resolution> Number n of pixels to skip when visualizing
- ///   the forces. One vector representing a normal
- ///  force is computed for every nth pixel. This
- ///  element must be positive and it is optional.
- ///  The default value is 30.
+ /// - `<visualization_resolution>`: Number n of pixels to skip when
+ /// visualizing the forces. One vector representing a normal
+ /// force is computed for every nth pixel. This
+ /// element must be positive and it is optional.
+ /// The default value is 30.
  ///
- /// <force_length> Length in meters of the forces visualized if
- ///  <visualize_forces> is set to true. This parameter is
- ///  optional, and the default value is 0.01.
+ /// - `<force_length>`: Length in meters of the forces visualized if
+ /// <visualize_forces> is set to true. This parameter is
+ /// optional, and the default value is 0.01.
  ///
- /// <extended_sensing> Extended sensing distance in meters. The sensor will
- ///   output data coming from its collision geometry plus
- ///  this distance. This element is optional, and the
- ///  default value is 0.001.
+ /// - `<extended_sensing>`: Extended sensing distance in meters. The sensor
+ /// will output data coming from its collision geometry plus
+ /// this distance. This element is optional, and the
+ /// default value is 0.001.
  ///
- /// <visualize_sensor> Whether to visualize the sensor or not. This element
- ///   is optional, and the default value is false.
+ /// - `<visualize_sensor>`: Whether to visualize the sensor or not. This
+ /// element is optional, and the default value is false.
  ///
- /// <visualize_contacts> Whether to visualize the contacts from the contact
- ///   sensor based on physics. This element is optional,
- ///  and the default value is false.
+ /// - `<visualize_contacts>`: Whether to visualize the contacts from the
+ /// contact sensor based on physics. This element is optional,
+ /// and the default value is false.
  ///
- /// <visualize_forces> Whether to visualize normal forces computed from the
- ///   depth camera. This element is optional, and the
- ///  default value is false.
+ /// - `<visualize_forces>`: Whether to visualize normal forces computed from
+ /// the depth camera. This element is optional, and the
+ /// default value is false.
 
  class OpticalTactilePlugin :
  public System,

src/systems/particle_emitter/ParticleEmitter.hh

@@ -32,10 +32,10 @@ namespace systems
  class ParticleEmitterPrivate;
 
  /// \brief A system for running and managing particle emitters. A particle
- /// emitter is defined using the <particle_emitter> SDF element.
+ /// emitter is defined using the `<particle_emitter>` SDF element.
  ///
  /// This system will create a transport subscriber for each
- /// <particle_emitter> using the child <topic> name. If a <topic> is not
+ /// `<particle_emitter>` using the child `<topic>` name. If a `<topic>` is not
  /// specified, the following topic naming scheme will be used:
  /// `/model/{model_name}/link/{link_name}/particle_emitter/{emitter_name}/cmd`
  class ParticleEmitter

src/systems/performer_detector/PerformerDetector.hh

@@ -45,8 +45,9 @@ namespace systems
  /// PerformerDetector's region, which is also represented by an
  /// gz::math::AxisAlignedBox. When a performer is detected, the system
  /// publishes a gz.msgs.Pose message with the pose of the detected
- /// performer with respect to the model containing the PerformerDetector. The
- /// name and id fields of the Pose message will be set to the name and the
+ /// performer with respect to the model containing the PerformerDetector.
+ ///
+ /// The name and id fields of the Pose message will be set to the name and the
  /// entity of the detected performer respectively. The header of the Pose
  /// message contains the time stamp of detection. The `data` field of the
  /// header will contain the key "frame_id" with a value set to the name of
@@ -62,19 +63,22 @@ namespace systems
  /// The system does not assume that levels are enabled, but it does require
  /// performers to be specified.
  ///
- /// ## System parameters
+ /// ## System Parameters
  ///
- /// `<topic>`: Custom topic to be used for publishing when a performer is
+ /// - `<topic>`: Custom topic to be used for publishing when a performer is
  /// detected. If not set, the default topic with the following pattern would
  /// be used "/model/<model_name>/performer_detector/status". The topic type
  /// is gz.msgs.Pose
- /// `<geometry>`: Detection region. Currently, only the `<box>` geometry is
+ ///
+ /// - `<geometry>`: Detection region. Currently, only the `<box>` geometry is
  /// supported. The position of the geometry is derived from the pose of the
  /// containing model.
- /// `<pose>`: Additional pose offset relative to the parent model's pose.
+ ///
+ /// - `<pose>`: Additional pose offset relative to the parent model's pose.
  /// This pose is added to the parent model pose when computing the
  /// detection region. Only the position component of the `<pose>` is used.
- /// `<header_data>`: Zero or more key-value pairs that will be
+ ///
+ /// - `<header_data>`: Zero or more key-value pairs that will be
  /// included in the header of the detection messages. A `<header_data>`
  /// element should have child `<key>` and `<value>` elements whose
  /// contents are interpreted as strings. Keys value pairs are stored in a

src/systems/physics/Physics.hh

@@ -64,9 +64,15 @@ namespace systems
 
  /// \class Physics Physics.hh gz/sim/systems/Physics.hh
  /// \brief Base class for a System.
- /// Includes optional parameter : <include_entity_names>. When set
+ ///
+ /// ## System Parameters
+ ///
+ /// - `<include_entity_names>`: Optional. When set
  /// to false, the name of colliding entities is not populated in
- /// the contacts. Remains true by default. Usage :
+ /// the contacts. Remains true by default.
+ ///
+ /// ## Example
+ ///
  /// ```
  /// <plugin
  /// filename="gz-sim-physics-system"

src/systems/python_system_loader/PythonSystemLoader.hh

@@ -55,14 +55,14 @@ namespace systems
 /// check if the corresponding method is implemented in the Python system and
 /// skip it if it's not found.
 ///
-/// See examples/scripts/python_api/systems/test_system.py for an example
+/// See `examples/scripts/python_api/systems/test_system.py` for an example
 ///
-/// ## Parameters
-/// * <module_name> : Name of python module to be loaded. The search path
+/// ## System Parameters
+/// * `<module_name>` : Name of python module to be loaded. The search path
 /// includes `GZ_SIM_SYSTEM_PLUGIN_PATH` as well as
 /// `PYTHONPATH`.
 ///
-/// The contents of the <plugin> tag will be available in the configure method
+/// The contents of the `<plugin>` tag will be available in the configure method
 /// of the Python system
 // TODO(azeey) Add ParameterConfigure
 class GZ_SIM_PYTHON_SYSTEM_LOADER_SYSTEM_HIDDEN PythonSystemLoader final

src/systems/rf_comms/RFComms.hh

@@ -38,31 +38,37 @@ namespace systems
  /// This communication model has been ported from:
  /// https:/osrf/subt .
  ///
+ /// ## System Parameters
+ ///
  /// This system can be configured with the following SDF parameters:
  ///
- /// * Optional parameters:
- /// <range_config> Element used to capture the range configuration based on a
- /// log-normal distribution. This block can contain any of the
- /// next parameters:
- /// * <max_range>: Hard limit on range (meters). No communication will
- /// happen beyond this range. Default is 50.
- /// * <fading_exponent>: Fading exponent used in the normal distribution.
- /// Default is 2.5.
- /// * <l0>: Path loss at the reference distance (1 meter) in dBm.
- /// Default is 40.
- /// * <sigma>: Standard deviation of the normal distribution.
- /// Default is 10.
+ /// Optional parameters:
+ ///
+ /// - `<range_config>`: Element used to capture the range configuration based
+ /// on a log-normal distribution. This block can contain any of the
+ /// next parameters:
+ /// - `<max_range>`: Hard limit on range (meters). No communication will
+ /// happen beyond this range. Default is 50.
+ /// - `<fading_exponent>`: Fading exponent used in the normal distribution.
+ /// Default is 2.5.
+ /// - `<l0>`: Path loss at the reference distance (1 meter) in dBm.
+ /// Default is 40.
+ /// - `<sigma>`: Standard deviation of the normal distribution.
+ /// Default is 10.
+ ///
+ /// - `<radio_config>`: Element used to capture the radio configuration.
+ /// This block can contain any of the
+ /// next parameters:
+ /// - `<capacity>`: Capacity of radio in bits-per-second.
+ /// Default is 54000000 (54 Mbps).
+ /// - `<tx_power>`: Transmitter power in dBm. Default is 27dBm (500mW).
+ /// - `<noise_floor>`: Noise floor in dBm. Default is -90dBm.
+ /// - `<modulation>`: Supported modulations: ["QPSK"]. Default is "QPSK".
  ///
- /// <radio_config> Element used to capture the radio configuration.
- /// This block can contain any of the
- /// next parameters:
- /// * <capacity>: Capacity of radio in bits-per-second.
- /// Default is 54000000 (54 Mbps).
- /// * <tx_power>: Transmitter power in dBm. Default is 27dBm (500mW).
- /// * <noise_floor>: Noise floor in dBm. Default is -90dBm.
- /// * <modulation>: Supported modulations: ["QPSK"]. Default is "QPSK".
+ /// ## Example
  ///
  /// Here's an example:
+ /// ```
  /// <plugin
  /// filename="gz-sim-rf-comms-system"
  /// name="gz::sim::systems::RFComms">
@@ -79,6 +85,7 @@ namespace systems
  /// <modulation>QPSK</modulation>
  /// </radio_config>
  /// </plugin>
+ /// ```
  class RFComms
  : public comms::ICommsModel
  {

src/systems/sensors/Sensors.hh

@@ -40,14 +40,14 @@ namespace systems
  ///
  /// ## System Parameters
  ///
- /// - `<render_engine>` Name of the render engine, such as 'ogre' or 'ogre2'.
- /// - `<background_color>` Color used for the scene's background. This
+ /// - `<render_engine>`: Name of the render engine, such as "ogre" or "ogre2".
+ /// - `<background_color>`: Color used for the scene's background. This
  /// will override the background color specified in a world's SDF <scene>
  /// element. This background color is used by sensors, not the GUI.
- /// - `<ambient_light>` Color used for the scene's ambient light. This
+ /// - `<ambient_light>`: Color used for the scene's ambient light. This
  /// will override the ambient value specified in a world's SDF <scene>
  /// element. This ambient light is used by sensors, not the GUI.
- /// - `<disable_on_drained_battery>` Disable sensors if the model's
+ /// - `<disable_on_drained_battery>`: Disable sensors if the model's
  /// battery plugin charge reaches zero. Sensors that are in nested
  /// models are also affected.
  ///

src/systems/shader_param/ShaderParam.hh

@@ -35,42 +35,42 @@ namespace systems
 
  /// \brief A plugin for setting shaders to a visual and its params
  ///
- /// Plugin parameters:
+ /// ## System Parameters
  ///
- /// <shader>  Shader to use - can be repeated to specify shader programs
- /// written in different languages.
- ///   Attributes:
- ///  language - Shader language. Possible values: glsl, metal
- ///  Default to glsl if not specified
- /// <vertex>  Path to vertex program
- /// <fragment> Path to fragment program
- /// <param>  Shader parameter - can be repeated within plugin SDF element
- /// <name>  Name of uniform variable bound to the shader
- /// <shader>  Type of shader, i.e. vertex, fragment
- /// <type>  Variable type: float, int, float_array, int_array
- /// <value>  Value to set the shader parameter to. The vallue string can
- /// be an int, float, or a space delimited array of ints or
- /// floats. It can also be 'TIME', in which case the value will
- /// be bound to sim time.
+ /// - `<shader>`: Shader to use - can be repeated to specify shader programs
+ ///  written in different languages.
+ /// - Attributes:
+ /// - `language`: Shader language. Possible values: glsl, metal
+ /// Default to glsl if not specified
+ /// - `<vertex>`: Path to vertex program
+ /// - `<fragment>`: Path to fragment program
+ /// - `<param>`: Shader parameter - can be repeated within plugin SDF element
+ /// - `<name>`: Name of uniform variable bound to the shader
+ /// - `<shader>`: Type of shader, i.e. vertex, fragment
+ /// - `<type>`: Variable type: float, int, float_array, int_array
+ /// - `<value>`: Value to set the shader parameter to. The vallue string can
+ ///  be an int, float, or a space delimited array of ints or
+ ///  floats. It can also be "TIME", in which case the value will
+ ///  be bound to sim time.
  ///
- /// Example usage:
+ /// ## Example
  ///
- /// \verbatim
- ///  <plugin filename="gz-sim-shader-param-system"
- ///  name="gz::sim::systems::ShaderParam">
- ///  <shader language='glsl'>
- ///  <vertex>materials/my_vs.glsl</vertex>
- ///  <fragment>materials/my_fs.glsl</fragment>
- ///  </shader>
- ///  <!-- Sets a fragment shader variable named "ambient" to red -->
- ///  <param>
- ///  <name>ambient</name>
- ///  <shader>fragment</shader>
- ///  <type>float_array</type>
- ///  <value>1.0 0.0 0.0 1.0</value>
- ///  </param>
- ///  </plugin>
- /// \endverbatim
+ /// ```
+ /// <plugin filename="gz-sim-shader-param-system"
+ /// name="gz::sim::systems::ShaderParam">
+ /// <shader language='glsl'>
+ /// <vertex>materials/my_vs.glsl</vertex>
+ /// <fragment>materials/my_fs.glsl</fragment>
+ /// </shader>
+ /// <!-- Sets a fragment shader variable named "ambient" to red -->
+ /// <param>
+ /// <name>ambient</name>
+ /// <shader>fragment</shader>
+ /// <type>float_array</type>
+ /// <value>1.0 0.0 0.0 1.0</value>
+ /// </param>
+ /// </plugin>
+ /// ```
  class ShaderParam
  : public System,
  public ISystemConfigure,