Fix various documentation errors in tf2 (backport #857)

tf2/Doxyfile

@@ -20,4 +20,5 @@ MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 PREDEFINED             += TF2_PUBLIC=
 PREDEFINED             += TF2SIMD_FORCE_INLINE=
-PREDEFINED             += ATTRIBUTE_ALIGNED16(class)=
+PREDEFINED             += ATTRIBUTE_ALIGNED16(class)=class
+EXCLUDE_PATTERNS       = */test/*

tf2/include/tf2/LinearMath/Matrix3x3.hpp

@@ -36,7 +36,7 @@ class Matrix3x3 {
 	Vector3 m_el[3];
 
 public:
-	/** @brief No initializaion constructor */
+	/** @brief No initialization constructor */
         TF2_PUBLIC
 	Matrix3x3 () {}
 
@@ -281,7 +281,8 @@ class Matrix3x3 {
 	/**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
 	* @param yaw Yaw around Z axis
 	* @param pitch Pitch around Y axis
-	* @param roll around X axis */	
+	* @param roll around X axis
+	* @param solution_number Which solution of two possible solutions (1 or 2) are possible values */
         TF2_PUBLIC
 	void getEulerYPR(tf2Scalar& yaw, tf2Scalar& pitch, tf2Scalar& roll, unsigned int solution_number = 1) const
 	{
@@ -411,8 +412,8 @@ class Matrix3x3 {
 	* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
 	* coordinate system, i.e., old_this = rot * new_this * rot^T. 
 	* @param threshold See iteration
-	* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied 
-	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed. 
+	* @param maxSteps The iteration stops when all off-diagonal elements are less than the threshold multiplied
+	* by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
 	* 
 	* Note that this matrix is assumed to be symmetric. 
 	*/
@@ -501,8 +502,8 @@ class Matrix3x3 {
 	/**@brief Calculate the matrix cofactor 
 	* @param r1 The first row to use for calculating the cofactor
 	* @param c1 The first column to use for calculating the cofactor
-	* @param r1 The second row to use for calculating the cofactor
-	* @param c1 The second column to use for calculating the cofactor
+	* @param r2 The second row to use for calculating the cofactor
+	* @param c2 The second column to use for calculating the cofactor
 	* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
 	*/
         TF2_PUBLIC

tf2/include/tf2/LinearMath/Vector3.hpp

@@ -87,7 +87,7 @@ ATTRIBUTE_ALIGNED16(class) Vector3
 	}
 
 /**@brief Add a vector to this one 
- * @param The vector to add to this one */
+ * @param v The vector to add to this one */
 	TF2SIMD_FORCE_INLINE Vector3& operator+=(const Vector3& v)
 	{
 
@@ -96,8 +96,8 @@ ATTRIBUTE_ALIGNED16(class) Vector3
 	}
 
 
-  /**@brief Sutf2ract a vector from this one
-   * @param The vector to sutf2ract */
+  /**@brief Subtract a vector from this one
+   * @param v The vector to subtract */
 	TF2SIMD_FORCE_INLINE Vector3& operator-=(const Vector3& v) 
 	{
 		m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2];
@@ -586,23 +586,7 @@ class tf2Vector4 : public Vector3
 		return absolute4().maxAxis4();
 	}
 
-
-
 
-  /**@brief Set x,y,z and zero w 
-   * @param x Value of x
-   * @param y Value of y
-   * @param z Value of z
-   */
-
-
-/*		void getValue(tf2Scalar *m) const 
-		{
-			m[0] = m_floats[0];
-			m[1] = m_floats[1];
-			m[2] =m_floats[2];
-		}
-*/
 /**@brief Set the values 
    * @param x Value of x
    * @param y Value of y

tf2/include/tf2/buffer_core.hpp

@@ -163,12 +163,15 @@ class BufferCore : public BufferCoreInterface
     const std::string & tracking_frame, const std::string & observation_frame,
     const TimePoint & time, const tf2::Duration & averaging_interval) const;
 
-  /** \brief Lookup the velocity of the moving_frame in the reference_frame
-   * \param reference_frame The frame in which to track
-   * \param moving_frame The frame to track
+  /** \brief Lookup the velocity of the tracking_frame with respect to the observation frame in the reference_frame using the reference point.
+   * \param tracking_frame The frame in which to track
+   * \param observation_frame The frame to track
+   * \param reference_frame The frame in which to express the velocity
+   * \param reference_point The point in the reference_frame at which to compute the velocity
+   * \param reference_point_frame The frame in which the reference_point is expressed
    * \param time The time at which to get the velocity
    * \param duration The period over which to average
-   * \param velocity The velocity output
+   * \return The velocity output
    *
    * Possible exceptions TransformReference::LookupException, TransformReference::ConnectivityException,
    * TransformReference::MaxDepthException

tf2/include/tf2/convert.hpp

@@ -48,9 +48,9 @@ namespace tf2
 /**\brief The templated function expected to be able to do a transform
  *
  * This is the method which tf2 will use to try to apply a transform for any given datatype.
- * \param data_in[in] The data to be transformed.
- * \param data_out[inout] A reference to the output data. Note this can point to data in and the method should be mutation safe.
- * \param transform[in] The transform to apply to data_in to fill data_out.
+ * \param[in] data_in The data to be transformed.
+ * \param[in,out] data_out A reference to the output data. Note this can point to data in and the method should be mutation safe.
+ * \param[in] transform The transform to apply to data_in to fill data_out.
  *
  * This method needs to be implemented by client library developers
  */