API documentation common Set* features

include/ignition/physics/CylinderShape.hh

@@ -60,6 +60,9 @@ namespace ignition
       };
     };
 
+    /////////////////////////////////////////////////
+    /// \brief This feature sets the CylinderShape properties such as
+    /// the cylinder radius and height.
     class IGNITION_PHYSICS_VISIBLE SetCylinderShapeProperties
         : public virtual FeatureWithRequirements<CylinderShapeCast>
     {

include/ignition/physics/FreeGroup.hh

@@ -110,21 +110,28 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
-    /// While a physics engine with maximal coordinates can provide
+    /// \brief This features sets the FreeGroup pose in world frame. However,
+    /// while a physics engine with maximal coordinates can provide
     /// Link::SetWorldPose and similar functions for setting velocity
     /// regardless of the kinematic constraints on that link, this behavior
-    /// is not well defined and difficult to implement with generalized
-    /// coordinates. The FreeGroup::SetWorldPose function provides an
-    /// analog to both `Link::SetWorldPose` and `Model::SetWorldPose`.
+    /// for FreeGroup is not well defined and difficult to implement
+    /// with generalized coordinates. The FreeGroup::SetWorldPose function should
+    /// provide an analog to both `Link::SetWorldPose` and `Model::SetWorldPose`.
     class IGNITION_PHYSICS_VISIBLE SetFreeGroupWorldPose
         : public virtual FeatureWithRequirements<FindFreeGroupFeature>
     {
+      /// \brief This class defines the FreeGroup concept, which represents a
+      /// group of links that are not connected to the world with any kinematic
+      /// constraints. This class also provides a rough definition of this
+      /// FreeGroup pose in world frame. See FindFreeGroupFeature class
+      /// documentation for more detail.
       public: template <typename PolicyT, typename FeaturesT>
       class FreeGroup : public virtual Entity<PolicyT, FeaturesT>
       {
         public: using PoseType =
             typename FromPolicy<PolicyT>::template Use<Pose>;
 
+        /// \brief Set this FreeGroup pose in world frame.
         public: void SetWorldPose(const PoseType &_pose);
       };
 
@@ -141,9 +148,16 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This features sets the FreeGroup linear and angular velocity in
+    /// world frame.
     class IGNITION_PHYSICS_VISIBLE SetFreeGroupWorldVelocity
         : public virtual FeatureWithRequirements<FindFreeGroupFeature>
     {
+      /// \brief This class defines the FreeGroup concept, which represents a
+      /// group of links that are not connected to the world with any kinematic
+      /// constraints. This class also provides a rough definition of this
+      /// FreeGroup linear and angular velocity in world frame. See
+      /// FindFreeGroupFeature class documentation for more detail.
       public: template <typename PolicyT, typename FeaturesT>
       class FreeGroup : public virtual Entity<PolicyT, FeaturesT>
       {
@@ -153,9 +167,11 @@ namespace ignition
         public: using AngularVelocity =
             typename FromPolicy<PolicyT>::template Use<AngularVector>;
 
+        /// \brief Set this FreeGroup linear velocity in world frame.
         public: void SetWorldLinearVelocity(
             const LinearVelocity &_linearVelocity);
 
+        /// \brief Set this FreeGroup angular velocity in world frame.
         public: void SetWorldAngularVelocity(
             const AngularVelocity &_angularVelocity);
       };

include/ignition/physics/Joint.hh

@@ -103,6 +103,9 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature sets the generalized Joint states such as
+    /// Position, Velocity, Acceleration of the Joint and the applied Force to
+    /// the Joint.
     class IGNITION_PHYSICS_VISIBLE SetBasicJointState : public virtual Feature
     {
       /// \brief The Joint API for setting basic joint state
@@ -316,6 +319,8 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature sets the commanded value of generalized velocity of
+    /// this Joint.
     class IGNITION_PHYSICS_VISIBLE SetJointVelocityCommandFeature
         : public virtual Feature
     {

include/ignition/physics/RemoveEntities.hh

@@ -26,6 +26,9 @@ namespace ignition
 {
   namespace physics
   {
+    /////////////////////////////////////////////////
+    /// \brief This feature removes a Model entity from the index-specified
+    /// World.
     class IGNITION_PHYSICS_VISIBLE RemoveModelFromWorld : public virtual Feature
     {
       public: template <typename PolicyT, typename FeaturesT>

include/ignition/physics/Shape.hh

@@ -167,6 +167,8 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature sets the Shape collision properties such as
+    /// the Shape surface friction coefficient and restitution coefficient.
     class IGNITION_PHYSICS_VISIBLE SetShapeCollisionProperties
         : public virtual Feature
     {
@@ -284,6 +286,8 @@ namespace ignition
     };
 
     /////////////////////////////////////////////////
+    /// \brief This feature sets the Shape's slip compliance of the first
+    /// and second friction direction in the friction pyramid model.
     class IGNITION_PHYSICS_VISIBLE SetShapeFrictionPyramidSlipCompliance
         : public virtual Feature
     {