API documentation common Get* feature

include/ignition/physics/GetBoundingBox.hh

@@ -32,6 +32,11 @@ namespace ignition
       GetShapeBoundingBox,
       GetShapeFromLink,
       LinkFrameSemantics>;
+
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the axis aligned bounding box for the
+    /// shapes attached to this link in the requested frame. The default frame
+    /// is the world frame.
     class IGNITION_PHYSICS_VISIBLE GetLinkBoundingBox
         : public virtual
           FeatureWithRequirements<GetLinkBoundingBoxRequiredFeatures>
@@ -62,6 +67,10 @@ namespace ignition
       GetLinkBoundingBox,
       GetLinkFromModel,
       ModelFrameSemantics>;
+
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the axis aligned bounding box for the
+    /// model in the requested frame. The default frame is the world frame.
     class IGNITION_PHYSICS_VISIBLE GetModelBoundingBox
         : public virtual
           FeatureWithRequirements<GetModelBoundingBoxRequiredFeatures>
@@ -73,8 +82,8 @@ namespace ignition
         public: using AlignedBoxType =
             typename FromPolicy<PolicyT>::template Use<AlignedBox>;
 
-        /// \brief Get the axis aligned bounding box for the links attached
-        /// to this model in the requested frame.
+        /// \brief Get the axis aligned bounding box for the model
+        /// in the requested frame.
         /// \param[in] _referenceFrame
         ///   The desired frame for the bounding box. By default, this will be
         ///   the world frame.

include/ignition/physics/GetEntities.hh

@@ -26,6 +26,8 @@ namespace ignition
 {
   namespace physics
   {
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the physics engine name in use.
     class IGNITION_PHYSICS_VISIBLE GetEngineInfo : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>
@@ -51,6 +53,9 @@ namespace ignition
       };
     };
 
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the world pointer using index or name
+    /// from the physics engine in use.
     class IGNITION_PHYSICS_VISIBLE GetWorldFromEngine : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>
@@ -128,6 +133,9 @@ namespace ignition
       };
     };
 
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the model pointer from the simulation
+    /// world by specifying world index and model index/name.
     class IGNITION_PHYSICS_VISIBLE GetModelFromWorld : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>
@@ -205,6 +213,9 @@ namespace ignition
       };
     };
 
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the link pointer from the model
+    /// by specifying model index and link index/name.
     class IGNITION_PHYSICS_VISIBLE GetLinkFromModel : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>
@@ -282,6 +293,9 @@ namespace ignition
       };
     };
 
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the joint pointer from the model
+    /// by specifying model index and joint index/name.
     class IGNITION_PHYSICS_VISIBLE GetJointFromModel : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>
@@ -359,6 +373,9 @@ namespace ignition
       };
     };
 
+    /////////////////////////////////////////////////
+    /// \brief This feature retrieves the shape pointer from the link
+    /// by specifying link index and shape index/name.
     class IGNITION_PHYSICS_VISIBLE GetShapeFromLink : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>

include/ignition/physics/Joint.hh

@@ -26,6 +26,10 @@ namespace ignition
   namespace physics
   {
     /////////////////////////////////////////////////
+    /// \brief This feature retrieves the generalized joint states such as
+    /// position, velocity, acceleration of the joint, applied force to the
+    /// joint and the transformation matrix from the joint's parent link to this
+    /// joint's child link based on its current position.
     class IGNITION_PHYSICS_VISIBLE GetBasicJointState : public virtual Feature
     {
       /// \brief The Joint API for getting basic joint state
@@ -178,6 +182,10 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature retrieves the generalized joint properties such as
+    /// Degrees Of Freedom (DoF), the transformation matrix from the joint's
+    /// parent link to this joint and the transformation matrix from this joint
+    /// to its child link.
     class IGNITION_PHYSICS_VISIBLE GetBasicJointProperties
         : public virtual Feature
     {

include/ignition/physics/Shape.hh

@@ -28,6 +28,8 @@ namespace ignition
   namespace physics
   {
     /////////////////////////////////////////////////
+    /// \brief This feature retrieves the shape kinematic properties such as the
+    /// the relative transform from the the link frame to this shape frame.
     class IGNITION_PHYSICS_VISIBLE GetShapeKinematicProperties
         : public virtual Feature
     {
@@ -87,6 +89,8 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature retrieves the shape collision properties such as
+    /// the shape surface friction coefficient and restitution coefficient.
     class IGNITION_PHYSICS_VISIBLE GetShapeCollisionProperties
         : public virtual Feature
     {
@@ -129,6 +133,8 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature retrieves the shape's axis aligned bounding box in
+    /// the requested frame. The default frame is the world frame.
     class IGNITION_PHYSICS_VISIBLE GetShapeBoundingBox
         : public virtual FeatureWithRequirements<ShapeFrameSemantics>
     {
@@ -249,6 +255,8 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature retrieves the shape's slip compliance of the first
+    /// and second friction direction in the friction pyramid model.
     class IGNITION_PHYSICS_VISIBLE GetShapeFrictionPyramidSlipCompliance
         : public virtual Feature
     {