More documentation cleanup

libstage/model_actuator.cc

@@ -50,10 +50,10 @@ actuator
 
 @par Details
 
-- type "linear" or "rotational"\n
-  the style of actuator. Rotational actuators may only rotate about the z axis (i.e. 'yaw')
+- type "linear" or "rotational"
+  - the style of actuator. Rotational actuators may only rotate about the z axis (i.e. 'yaw')
 - axis
-  if a linear actuator the axis that the actuator will move along
+  - if a linear actuator the axis that the actuator will move along
  */
 
 static const double WATTS_KGMS = 5.0; // cost per kg per meter per second

libstage/model_blinkenlight.cc

@@ -25,13 +25,13 @@ API: Stg::ModelBlinkenlight
 @verbatim
 blinkenlight
 (
-# generic model properties
-size3 [0.02 0.02 0.02]
+  # generic model properties
+  size3 [0.02 0.02 0.02]
 
-# type-specific properties
-period 250
-dutycycle 1.0
-enabled 1
+  # type-specific properties
+  period 250
+  dutycycle 1.0
+  enabled 1
 )
 @endverbatim
 
@@ -40,11 +40,11 @@ enabled 1
 @par Details
  
 - enabled int 
-- if 0, the light is off, else it is on
+  - if 0, the light is off, else it is on
 - period int
-- the period of one on/of cycle, in msec
+  - the period of one on/of cycle, in msec
 - dutycycle float
-- the ratio of on-time to off-time
+  - the ratio of on-time to off-time
  */
 
 //#define DEBUG 1

libstage/model_blobfinder.cc

@@ -66,15 +66,15 @@ blobfinder
 
 @par Details
  
-- colors_count <int>\n
-  number of colors being tracked
-- colors [ col1:<string> col2:<string> ... ]\n
-  A list of quoted strings defining the colors detected in each channel, using color names from the X11-style color database (ex. "black", "red").
-  The number of strings should match colors_count.
-- image [ width:<int> height:<int> ]\n
-  dimensions of the image in pixels. This determines the blobfinder's resolution
-- range <float>\n
-  maximum range of the sensor in meters.
+- colors_count <int>
+  - number of colors being tracked
+- colors [ col1:<string> col2:<string> ... ]
+  - A list of quoted strings defining the colors detected in each channel, using color names from the X11-style color database (ex. "black", "red").
+  - The number of strings should match colors_count.
+- image [ width:<int> height:<int> ]
+  - dimensions of the image in pixels. This determines the blobfinder's resolution
+- range <float>
+  - maximum range of the sensor in meters.
 
  */
 

libstage/model_camera.cc

@@ -58,15 +58,15 @@ camera
 
 @par Details
  
-- resolution [ width:<int> height:<int> ]\n
-  the resolution of the pixel samples
-- range [ min:<float> max:<float> ]\n
-  the range reported by the camera, in meters. Objects closer than `min', or farther than `max' will not be displayed. 
-  The smaller the `min' number, the less persision in depth - don't set this value too close to 0.
-- fov [ horizontal: <float> vertical: <float> ]\n
-  angle, in degrees, for the horizontal and vertical field of view.
+- resolution [ width:<int> height:<int> ]
+  - The resolution of the pixel samples
+- range [ min:<float> max:<float> ]
+  - The range reported by the camera, in meters. Objects closer than `min', or farther than `max' will not be displayed.
+  - The smaller the `min' number, the less persision in depth - don't set this value too close to 0.
+- fov [ horizontal: <float> vertical: <float> ]
+  - Angle, in degrees, for the horizontal and vertical field of view.
 - pantilt [ pan:<float> tilt:<float> ]
-  angle, in degrees, where the camera is looking. pan is the left-right positioning, and tilt is the up-down positioning.
+  - Angle, in degrees, where the camera is looking. pan is the left-right positioning, and tilt is the up-down positioning.
 */
 
 //caclulate the corss product, and store results in the first vertex

libstage/model_fiducial.cc

@@ -51,17 +51,17 @@ fiducial
 
 @par Details
  
-- range_min <float>\n
-  the minimum range reported by the sensor, in meters. The sensor will detect objects closer than this, but report their range as the minimum.
-- range_max <float>\n
-  the maximum range at which the sensor can detect a fiducial, in meters. The sensor may not be able to uinquely identify the fiducial, depending on the value of range_max_id.
-- range_max_id <float>\n
-  the maximum range at which the sensor can detect the ID of a fiducial, in meters.
+- range_min <float>
+  - the minimum range reported by the sensor, in meters. The sensor will detect objects closer than this, but report their range as the minimum.
+- range_max <float>
+  - the maximum range at which the sensor can detect a fiducial, in meters. The sensor may not be able to uinquely identify the fiducial, depending on the value of range_max_id.
+- range_max_id <float>
+  - the maximum range at which the sensor can detect the ID of a fiducial, in meters.
 - fov <float>
-  the angular field of view of the scanner, in radians.
-- ignore_zloc <1/0>\n
-  default is 0.  When set to 1, the fiducial finder ignores the z component when checking a fiducial.  Using the default behaviour, a short object would not been seen
-  by a fiducial finder placed on top of a tall robot.  With this flag set to 1, the fiducial finder will see the shorter robot.   
+  - the angular field of view of the scanner, in radians.
+- ignore_zloc <1/0>
+  - default is 0.  When set to 1, the fiducial finder ignores the z component when checking a fiducial.  Using the default behaviour, a short object would not been seen
+    by a fiducial finder placed on top of a tall robot.  With this flag set to 1, the fiducial finder will see the shorter robot.
  */
 
   ModelFiducial::ModelFiducial( World* world, 

libstage/model_gripper.cc

@@ -40,12 +40,12 @@ gripper
 
 @par Details
 
-- autosnatch < 0 or 1>\n
-  iff 1, gripper will close automatically when break beams are broken
-- paddle_size [ <float x> <float y < float z> ]\n
-  Gripper paddle size as a proportion of the model's body size (0.0 to 1.0)
-- paddle_state [ <string open/close> <string up/down> ]\n
-  Gripper arms state, either "open" or "closed", and lift state, either "up" or "down"
+- autosnatch < 0 or 1>
+  - iff 1, gripper will close automatically when break beams are broken
+- paddle_size [ <float x> <float y < float z> ]
+  - Gripper paddle size as a proportion of the model's body size (0.0 to 1.0)
+- paddle_state [ <string open/close> <string up/down> ]
+  - Gripper arms state, either "open" or "closed", and lift state, either "up" or "down"
 */
 
 

libstage/model_ranger.cc

@@ -56,9 +56,9 @@
      -  per-transducer version of the ssize property. Overrides the common setting.
    - sview [float float float]
    - [range_min range_max fov] 
-   - minimum range and maximum range in meters, field of view angle in degrees. Currently fov has no effect on the sensor model, other than being shown in the confgiuration graphic for the ranger device.
+     - minimum range and maximum range in meters, field of view angle in degrees. Currently fov has no effect on the sensor model, other than being shown in the confgiuration graphic for the ranger device.
    - sview[\<transducer index\>] [float float float]
-   - per-transducer version of the sview property. Overrides the common setting.
+     - per-transducer version of the sview property. Overrides the common setting.
 
 */
 

libstage/model_wifi.cc

@@ -156,7 +156,7 @@ is used to specify how hard it is for the signal to penetrate obstacles.
   - standard deviation used by Log Distance Path Loss Model
 - range_db
   - parameter used for visualization of radio wave propagation. It is usually set to a negative value
-to visualize a certain db range.
+    to visualize a certain db range.
 - wall_factor
   - factor reflects the strength of obstacles
   - random_seed <int>\n