minor improvements to documentation

Author: Marco Boneberger

README.md

@@ -117,7 +117,8 @@ fn main() -> FrankaResult<()> {
 
 
 ## How to get started
-As it is a straight port, you may find the
+
+Since libfranka-rs is a port of libfranka, you may find the
 [Franka Control Interface Documentation](https://frankaemika.github.io/docs/index.html) helpful.
 
 ### With zero Rust knowledge
@@ -138,8 +139,8 @@ hoping that it makes your introduction into the Rust world as smooth as possible
 ### With zero libfranka knowledge
 The [Franka Control Interface Documentation](https://frankaemika.github.io/docs/index.html) also includes a setup guide.
 You can skip the installation of libfranka as you will be using libfranka-rs.
-Take a look at the [Documentation](https://docs.rs/libfranka-rs) and the examples folder. You should run the
-communication_test example to verify that your setup is correct.
+Take a look at the [Documentation](https://docs.rs/libfranka-rs) and the [examples](examples) folder. You should run the
+[communication_test](examples/communication_test.rs) example to verify that your setup is correct.
 
 ### How to use libfranka-rs
 If you want to use libfranka-rs in your project, you have to add

src/lib.rs

@@ -25,7 +25,7 @@
 //! use std::f64::consts::PI;
 //! use franka::{JointPositions, MotionFinished, Robot, RobotState, Fr3, FrankaResult};
 //! fn main() -> FrankaResult<()> {
-//! let mut robot = Fr3::new("robotik-bs.de", None, None)?;
+//!     let mut robot = Fr3::new("robotik-bs.de", None, None)?;
 //!     robot.set_default_behavior()?;
 //!     robot.set_collision_behavior([20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0], [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
 //!                                  [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0], [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
@@ -129,7 +129,7 @@
 //! # fn joint_positions() -> JointPositions {
 //! # let time = 0.;
 //! # let mut out = JointPositions::new([0.;7]);
-//!
+//! #
 //! if time >= 5.0 {
 //!     return out.motion_finished();
 //! }

src/model.rs

@@ -104,6 +104,10 @@ pub trait RobotModel {
     fn new<S: AsRef<Path>>(model_filename: S, libm_filename: Option<&Path>) -> FrankaResult<Self>
     where
         Self: Sized;
+
+    /// Returns the path where model is stored if it exists.
+    fn get_model_path(&self) -> Option<PathBuf>;
+
     /// Gets the 4x4 pose matrix for the given frame in base frame.
     ///
     /// The pose is represented as a 4x4 matrix in column-major format.
@@ -114,10 +118,6 @@ pub trait RobotModel {
     /// * `EE_T_K` - Stiffness frame K in the end effector frame.
     /// # Return
     /// Vectorized 4x4 pose matrix, column-major.
-
-    /// Returns the path where model is stored if it exists.
-    fn get_model_path(&self) -> Option<PathBuf>;
-
     #[allow(non_snake_case)]
     fn pose(
         &self,

src/robot/fr3.rs

@@ -53,6 +53,29 @@ impl PrivateRobot for Fr3 {
 }
 
 impl Fr3 {
+    /// Establishes a connection with a FR3 robot.
+    ///
+    /// # Arguments
+    /// * `franka_address` - IP/hostname of the robot.
+    /// * `realtime_config` - if set to Enforce, an exception will be thrown if realtime priority
+    /// cannot be set when required. Setting realtime_config to Ignore disables this behavior. Default is Enforce
+    /// * `log_size` - sets how many last states should be kept for logging purposes.
+    /// The log is provided when a [`ControlException`](`crate::exception::FrankaException::ControlException`) is thrown.
+    /// # Example
+    /// ```no_run
+    /// use franka::{FrankaResult, RealtimeConfig, Fr3};
+    /// fn main() -> FrankaResult<()> {
+    ///     // connects to the robot using real-time scheduling and a default log size of 50.
+    ///     let mut robot = Fr3::new("robotik-bs.de", None, None)?;
+    ///     // connects to the robot without using real-time scheduling and a log size of 1.
+    ///     let mut robot = Fr3::new("robotik-bs.de", RealtimeConfig::Ignore, 1)?;
+    ///     Ok(())
+    /// }
+    /// ```
+    /// # Errors
+    /// * [`NetworkException`](FrankaException::NetworkException) if the connection is unsuccessful.
+    /// * [`IncompatibleLibraryVersionError`](FrankaException::IncompatibleLibraryVersionError) if this version of `libfranka-rs` is not supported or
+    /// if the robot is not a FR3.
     pub fn new<RtConfig: Into<Option<RealtimeConfig>>, LogSize: Into<Option<usize>>>(
         franka_address: &str,
         realtime_config: RtConfig,

src/robot/panda.rs

@@ -38,7 +38,7 @@ use std::mem::size_of;
 pub struct Panda(RobotImplGeneric<Self>);
 
 impl Panda {
-    /// Establishes a connection with the robot.
+    /// Establishes a connection with a Panda robot.
     ///
     /// # Arguments
     /// * `franka_address` - IP/hostname of the robot.
@@ -58,8 +58,9 @@ impl Panda {
     /// }
     /// ```
     /// # Errors
-    /// * [`NetworkException`](`crate::exception::FrankaException::NetworkException`) if the connection is unsuccessful.
-    /// * IncompatibleVersionException if this version of `libfranka-rs` is not supported.
+    /// * [`NetworkException`](FrankaException::NetworkException) if the connection is unsuccessful.
+    /// * [`IncompatibleLibraryVersionError`](FrankaException::IncompatibleLibraryVersionError) if this version of `libfranka-rs` is not supported or
+    /// if the robot is not a Panda.
     pub fn new<RtConfig: Into<Option<RealtimeConfig>>, LogSize: Into<Option<usize>>>(
         franka_address: &str,
         realtime_config: RtConfig,