diff --git a/.gitignore b/.gitignore
index 8600851d7..5db5dddb4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -28,4 +28,5 @@ version.py
 
 # Python-generated files
 __pycache__/
-*.py[cod]
\ No newline at end of file
+*.py[cod]
+proto2cpp.log
diff --git a/doxygen_config.cmake.in b/doxygen_config.cmake.in
index f8b484068..8c7c8883d 100644
--- a/doxygen_config.cmake.in
+++ b/doxygen_config.cmake.in
@@ -20,6 +20,7 @@ FILE_PATTERNS          = *.proto
 INPUT_FILTER           = "python @FILTER_PROTO2CPP_PY_PATH@/proto2cpp.py"
 HAVE_DOT               = YES
 HIDE_UNDOC_RELATIONS   = NO
+MAX_DOT_GRAPH_DEPTH    = 2
 
 # If someone wants UML diagrams in the documentation, the next parameter must 
 # be commented in.
diff --git a/osi_object.proto b/osi_object.proto
index 6a6371718..05500935d 100644
--- a/osi_object.proto
+++ b/osi_object.proto
@@ -327,12 +327,12 @@ message MovingObject
     // This is an extension to the \c MovingObject with additional attributes,
     // such as type and lights. The origin of the rear (front) axis coordinate
     // system in world coordinates is calculated as:
-    // \c MovingObject::base \c. \c BaseMoving::position + R * \c MovingObject::VehicleAttributes::bbcenter_to_rear (front)
+    // \c MovingObject::base . \c BaseMoving::position + R * \c MovingObject::VehicleAttributes::bbcenter_to_rear (front)
     // for the host vehicle (R rotates from vehicle to world frame, i.e. inverse
-    // orientation of \c MovingObject::base \c. \c BaseMoving::orientation).
+    // orientation of \c MovingObject::base . \c BaseMoving::orientation).
     //
     // For all vehicles, including host vehicles, the position given in
-    //  \c MovingObject::base \c. \c BaseMoving::position points to the center of the vehicle's bounding box.
+    //  \c MovingObject::base . \c BaseMoving::position points to the center of the vehicle's bounding box.
     //
     // The vehicle object coordinates are defined as x-axis is the direction from
     // rear to front of the vehicle, y-axis corresponds to rear axle and z-axis
@@ -364,13 +364,13 @@ message MovingObject
         //
         optional uint32 number_wheels = 3;
 
-        // The vector pointing from the bounding box center point (\c MovingObject::base \c. \c BaseMoving::position) to
+        // The vector pointing from the bounding box center point (\c MovingObject::base . \c BaseMoving::position) to
         // the middle (in x, y and z) of the rear axle under neutral load
         // conditions. In object coordinates.
         //
         optional Vector3d bbcenter_to_rear = 4;
 
-        // The vector pointing from the bounding box center point (\c MovingObject::base \c. \c BaseMoving::position) to
+        // The vector pointing from the bounding box center point (\c MovingObject::base . \c BaseMoving::position) to
         // the middle (in x, y and z) of the front axle under neutral load
         // conditions. In object coordinates.
         //
diff --git a/osi_sensordata.proto b/osi_sensordata.proto
index 29a3f1fad..39ffcba4d 100644
--- a/osi_sensordata.proto
+++ b/osi_sensordata.proto
@@ -172,11 +172,11 @@ message SensorData
     //
     // \note This field is usually static during the simulation.
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     //
     optional MountingPosition mounting_position = 6;
diff --git a/osi_sensorview.proto b/osi_sensorview.proto
index c056a7e7e..10550ca2b 100644
--- a/osi_sensorview.proto
+++ b/osi_sensorview.proto
@@ -77,11 +77,11 @@ message SensorView
     //
     // \note This field is usually static during the simulation.
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     //
     optional MountingPosition mounting_position = 4;
diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto
index 172b5c1d6..5dbe45d82 100644
--- a/osi_sensorviewconfiguration.proto
+++ b/osi_sensorviewconfiguration.proto
@@ -98,11 +98,11 @@ message SensorViewConfiguration
     // \li [1] DIN ISO 8855:2013-11
     //
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     // \note A default position can be provided by the sensor model (e.g. to
     // indicate the position the model was validated for),
@@ -245,11 +245,11 @@ message GenericSensorViewConfiguration
     // \li [1] DIN ISO 8855:2013-11
     //
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     // \note A default position can be provided by the sensor model (e.g. to
     // indicate the position the model was validated for),
@@ -314,11 +314,11 @@ message RadarSensorViewConfiguration
     // \li [1] DIN ISO 8855:2013-11
     //
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     // \note A default position can be provided by the sensor model (e.g. to
     // indicate the position the model was validated for),
@@ -448,11 +448,11 @@ message LidarSensorViewConfiguration
     // \li [1] DIN ISO 8855:2013-11
     //
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     // \note A default position can be provided by the sensor model (e.g. to
     // indicate the position the model was validated for),
@@ -546,11 +546,11 @@ message CameraSensorViewConfiguration
     // \li [1] DIN ISO 8855:2013-11
     //
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     // \note A default position can be provided by the sensor model (e.g. to
     // indicate the position the model was validated for),
@@ -710,11 +710,11 @@ message UltrasonicSensorViewConfiguration
     // \li [1] DIN ISO 8855:2013-11
     //
     // \note The origin of vehicle's coordinate system in world frame is
-    // ( \c MovingObject::base \c. \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
-    // \c MovingObject::base \c. \c BaseMoving::orientation) * 
+    // ( \c MovingObject::base . \c BaseMoving::position + Inverse_Rotation_yaw_pitch_roll(
+    // \c MovingObject::base . \c BaseMoving::orientation) * 
     // \c MovingObject::VehicleAttributes::bbcenter_to_rear) .
     // The orientation of the vehicle's coordinate system is equal to the
-    // orientation of the vehicle's bounding box \c MovingObject::base \c. 
+    // orientation of the vehicle's bounding box \c MovingObject::base . 
     // \c BaseMoving::orientation.
     // \note A default position can be provided by the sensor model (e.g. to
     // indicate the position the model was validated for),