Constraint limit. More...

#include <ConstraintLimit.h>

Inheritance diagram for AnimatSim::Environment::ConstraintLimit:

Collaboration diagram for AnimatSim::Environment::ConstraintLimit:

Public Member Functions
	ConstraintLimit ()
	Default constructor. More...

virtual	~ConstraintLimit ()
	Destructor. More...

virtual void	Alpha (float fltA)=0
	Sets the alpha color value for this constraint. More...

virtual float	Alpha ()
	Gets the alpha value. More...

virtual void	Color (float fltR, float fltG, float fltB, float fltA)
	Sets the color to use when displaying this contraint. More...

virtual CStdColor *	Color ()
	Gets the color that is used when displaying this constraint. More...

virtual void	Color (std::string strXml)
	Sets the color of this constraint using an xml packet. More...

virtual float	Damping ()
	Gets the damping value of the contraint. More...

virtual void	Damping (float fltVal, bool bUseScaling=true)
	Sets the Damping value of the constraint. More...

virtual void	DeleteGraphics ()=0
	Deletes up the graphics for the constraint. More...

virtual float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. More...

virtual void	IsLowerLimit (bool bVal)
	Sets whether this is a lower limit or not.. More...

virtual bool	IsLowerLimit ()
	Query if this object is lower limit. More...

virtual void	IsShowPosition (bool bVal)
	Sets whether this contstraint is actually just being used to show the current position of the joint, as opposed to being used to show the limit of a constraint.. More...

virtual bool	IsShowPosition ()
	Gets whether this contstraint is actually just being used to show the current position of the joint, as opposed to being used to show the limit of a constraint.. More...

virtual float	LimitPos ()
	Gets the limit position. More...

virtual void	LimitPos (float fltVal, bool bUseScaling=true, bool bOverrideSameCheck=false)
	Sets the Limit position. More...

virtual void	Load (CStdXml &oXml, std::string strName)

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. More...

virtual float	Restitution ()
	Gets the restitution coefficient of the constraint. More...

virtual void	Restitution (float fltVal)
	Sets the restitution coefficient. More...

virtual bool	SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetLimitPos ()=0
	Sets the limit position using the current value set within the object. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, float fltPosition, bool bVerify)

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)

virtual void	SetupGraphics ()=0
	Sets up the graphics for the constraint. More...

virtual float	Stiffness ()
	Gets the stiffness of the constraint. More...

virtual void	Stiffness (float fltVal, bool bUseScaling=true)
	Sets the stiffness of the constraint. More...

virtual void	VerifySystemPointers ()
	Verify that system pointers have been set correctly. More...

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. More...

virtual bool	AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
	Adds a new object to this parent. More...

virtual void	AfterResetSimulation ()
	Called after a simulation reset for some objects. More...

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. More...

virtual void	Copy (CStdSerialize *lpSource)

virtual void	Enabled (bool bVal)
	Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...

virtual bool	Enabled ()
	Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...

virtual NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Simulator *	GetSimulator ()
	Gets the simulator pointer. More...

virtual Structure *	GetStructure ()
	Gets the structure for this node. More...

virtual bool	HasProperty (const std::string &strName)
	Queries this object if it has a property with the given name. More...

virtual std::string	ID ()
	Gets the unique GUID ID of this object. More...

virtual void	ID (std::string strValue)
	Sets the unique GUID ID of the object. More...

virtual void	Initialize ()
	Initializes this object. More...

virtual void	Kill (bool bState=true)
	Kills. More...

virtual void	Load (StdUtils::CStdXml &oXml)
	Loads the item using an XML data packet. More...

virtual void	LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Loads a key frame snapshot. More...

virtual std::string	Name ()
	Gets the name of this object. More...

virtual void	Name (std::string strValue)
	Sets the name of the object. Blank is acceptable. More...

virtual AnimatPropertyType	PropertyType (const std::string &strName)

virtual void	ReInitialize ()
	Re-initialize this object. More...

virtual bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. More...

virtual void	Reset ()
	Resets this object. More...

virtual void	ResetSimulation ()
	Resets the simulation back to time 0. More...

virtual void	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

virtual void	SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Saves a key frame snapshot. More...

virtual bool	Selected ()
	Tells if this items is selected or not. More...

virtual void	Selected (bool bValue, bool bSelectMultiple)
	Selects this object. More...

virtual bool	SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual bool	SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)
	Sets the system pointers. More...

virtual void	SimPausing ()
	Called just before the simulation pauses. More...

virtual void	SimStarting ()
	Called just before the simulation starts. More...

virtual void	SimStopping ()
	Called just before the simulation stops. More...

virtual void	StepSimulation ()
	Step the simulation for this object. More...

virtual void	TimeStepModified ()
	Notification method that the time step modified has been modified. Objects should recalculate any slice times as needed. More...

virtual std::string	Type ()
	returns the string type name of this object. More...

virtual void	Type (std::string strValue)
	Sets the class type for this object. More...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Visual selection mode changed. More...

Static Public Member Functions
static ConstraintLimit *	CastToDerived (AnimatBase *lpBase)

Protected Member Functions
virtual void	SetLimitValues ()=0
	Sets the limit values of the joint in the child object.

Protected Attributes
bool	m_bIsLowerLimit
	If true then this is the lower limit of a pair of ConstraintLimits, else it is the upper limit.

bool	m_bIsShowPosition

float	m_fltDamping
	The damping for the constraint.

float	m_fltLimitPos
	The limit position for the constraint. This can be in radians or meters depending on the type of joint.

float	m_fltRestitution
	The restitution coefficient for the constraint.

float	m_fltStiffness
	The stiffness of the constraint.

Joint *	m_lpJoint
	Pointer to parent joint.

CStdColor	m_vColor
	The color used to display the limit.

Protected Attributes inherited from AnimatSim::AnimatBase
bool	m_bEnabled
	Tells if this item is enabled or not. If it is not enabled then it is not run.

bool	m_bSelected
	Tells whether the object is selected or not.

AnimatSim::Behavior::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_lpStructure
	The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.

std::string	m_strID
	The unique Id for this object.

std::string	m_strName
	The name for this object.

std::string	m_strType
	The type for this object. Examples are Box, Plane, Neuron, etc..

Detailed Description

Constraint limit.

A constraint limit is used to specify the movement range that is allowable for a joint. It typically requires two limits per joint, but it can be more or less.

Author: dcofer

Date: 3/21/2011

Definition at line 22 of file ConstraintLimit.h.

Constructor & Destructor Documentation

AnimatSim::Environment::ConstraintLimit::ConstraintLimit ( )

Default constructor.

Author: dcofer

Date: 3/22/2011

Definition at line 46 of file ConstraintLimit.cpp.

References m_bIsLowerLimit, m_bIsShowPosition, m_fltDamping, m_fltLimitPos, m_fltRestitution, m_fltStiffness, m_lpJoint, AnimatSim::AnimatBase::m_lpSim, and AnimatSim::AnimatBase::m_lpStructure.

AnimatSim::Environment::ConstraintLimit::~ConstraintLimit ( )

virtual

Destructor.

Author: dcofer

Date: 3/22/2011

Definition at line 66 of file ConstraintLimit.cpp.

Member Function Documentation

virtual void AnimatSim::Environment::ConstraintLimit::Alpha ( float fltA )

pure virtual

Sets the alpha color value for this constraint.

Author: dcofer

Date: 3/22/2011

Parameters

fltA	The new alpha value.

Implemented in VortexAnimatSim::Environment::Joints::VsPrismaticLimit, VortexAnimatSim::Environment::Joints::VsHingeLimit, BulletAnimatSim::Environment::Joints::BlHingeLimit, BulletAnimatSim::Environment::Joints::BlPrismaticLimit, RoboticsAnimatSim::Environment::Joints::RbHingeLimit, and RoboticsAnimatSim::Environment::Joints::RbPrismaticLimit.

float AnimatSim::Environment::ConstraintLimit::Alpha ( )

virtual

Gets the alpha value.

Author: dcofer

Date: 3/22/2011

Returns: Alpha value.

Definition at line 162 of file ConstraintLimit.cpp.

References StdUtils::CStdColor::a(), and m_vColor.

Referenced by SetData().

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void AnimatSim::Environment::ConstraintLimit::Color	(	float	fltR,
		float	fltG,
		float	fltB,
		float	fltA
	)

virtual

Sets the color to use when displaying this contraint.

Colors in OSG are between 0 and 1.

Author: dcofer

Date: 3/22/2011

Parameters

fltR	Red component of color.
fltG	Green component of color.
fltB	Blue component of color.
fltA	Alpha component of color.

Definition at line 136 of file ConstraintLimit.cpp.

References m_vColor, and StdUtils::CStdColor::Set().

Referenced by BulletAnimatSim::Environment::Joints::BlHinge::BlHinge(), BulletAnimatSim::Environment::Joints::BlPrismatic::BlPrismatic(), RoboticsAnimatSim::Environment::Joints::RbHinge::RbHinge(), RoboticsAnimatSim::Environment::Joints::RbPrismatic::RbPrismatic(), VortexAnimatSim::Environment::Joints::VsHinge::VsHinge(), and VortexAnimatSim::Environment::Joints::VsPrismatic::VsPrismatic().

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CStdColor * AnimatSim::Environment::ConstraintLimit::Color ( )

virtual

Gets the color that is used when displaying this constraint.

Author: dcofer

Date: 3/22/2011

Returns: CStdColor pointer.

Definition at line 147 of file ConstraintLimit.cpp.

References m_vColor.

Referenced by SetData().

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void AnimatSim::Environment::ConstraintLimit::Color ( std::string strXml )

virtual

Sets the color of this constraint using an xml packet.

Author: dcofer

Date: 3/22/2011

Parameters

strXml The xml packet to use when loading the new color info.

Definition at line 157 of file ConstraintLimit.cpp.

References StdUtils::CStdColor::Load(), and m_vColor.

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float AnimatSim::Environment::ConstraintLimit::Damping ( )

virtual

Gets the damping value of the contraint.

Author: dcofer

Date: 3/22/2011

Returns: damping position.

Definition at line 88 of file ConstraintLimit.cpp.

References m_fltDamping.

Referenced by SetData().

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void AnimatSim::Environment::ConstraintLimit::Damping	(	float	fltVal,
		bool	bUseScaling = `true`
	)

virtual

Sets the Damping value of the constraint.

Author: dcofer

Date: 3/22/2011

Parameters

fltVal	The new value.
bUseScaling	true to use unit scaling.

Definition at line 90 of file ConstraintLimit.cpp.

References AnimatSim::Simulator::InverseMassUnits(), m_fltDamping, AnimatSim::AnimatBase::m_lpSim, SetLimitValues(), and StdUtils::Std_IsAboveMin().

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virtual void AnimatSim::Environment::ConstraintLimit::DeleteGraphics ( )

pure virtual

Deletes up the graphics for the constraint.

Author: dcofer

Date: 3/22/2011

Implemented in VortexAnimatSim::Environment::Joints::VsPrismaticLimit, VortexAnimatSim::Environment::Joints::VsHingeLimit, BulletAnimatSim::Environment::Joints::BlHingeLimit, BulletAnimatSim::Environment::Joints::BlPrismaticLimit, RoboticsAnimatSim::Environment::Joints::RbHingeLimit, and RoboticsAnimatSim::Environment::Joints::RbPrismaticLimit.

float * AnimatSim::Environment::ConstraintLimit::GetDataPointer ( const std::string & strDataType )

virtual

Returns a float pointer to a data item of interest in this object.

This is a generic method used to get a pointer to data variable of interest. It is used by a variety of systems in the simulation. The most prominent are the data charting and stimulus classes. Within this method we associate a variable with a string name. By passing in the name of the data type we are interested in we can recieve back a float pointer to that data type. We can use that to read or set the data item in other classes. For example, the data charting system gets the pointer and then each time it needs to log a data point it reads the value into an array.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType name of the data item for which we are looking.

Returns: float pointer of the data item. If not found then it throws an exception.

Exceptions

If	DataType is not found.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 268 of file ConstraintLimit.cpp.

References m_fltLimitPos, AnimatSim::AnimatBase::m_strName, and StdUtils::Std_CheckString().

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void AnimatSim::Environment::ConstraintLimit::IsLowerLimit ( bool bVal )

virtual

Sets whether this is a lower limit or not..

Author: dcofer

Date: 3/22/2011

Parameters

bVal	true if lower limit.

Definition at line 172 of file ConstraintLimit.cpp.

References m_bIsLowerLimit.

Referenced by BulletAnimatSim::Environment::Joints::BlHinge::BlHinge(), BulletAnimatSim::Environment::Joints::BlPrismatic::BlPrismatic(), RoboticsAnimatSim::Environment::Joints::RbHinge::RbHinge(), RoboticsAnimatSim::Environment::Joints::RbPrismatic::RbPrismatic(), VortexAnimatSim::Environment::Joints::VsHinge::VsHinge(), and VortexAnimatSim::Environment::Joints::VsPrismatic::VsPrismatic().

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bool AnimatSim::Environment::ConstraintLimit::IsLowerLimit ( )

virtual

Query if this object is lower limit.

Author: dcofer

Date: 3/22/2011

Returns: true if lower limit, false if not.

Definition at line 182 of file ConstraintLimit.cpp.

References m_bIsLowerLimit.

void AnimatSim::Environment::ConstraintLimit::IsShowPosition ( bool bVal )

virtual

Sets whether this contstraint is actually just being used to show the current position of the joint, as opposed to being used to show the limit of a constraint..

Author: dcofer

Date: 4/11/2011

Parameters

bVal	true to set this to be a position limit.

Definition at line 193 of file ConstraintLimit.cpp.

References m_bIsShowPosition.

Referenced by BulletAnimatSim::Environment::Joints::BlHinge::BlHinge(), BulletAnimatSim::Environment::Joints::BlPrismatic::BlPrismatic(), RoboticsAnimatSim::Environment::Joints::RbHinge::RbHinge(), RoboticsAnimatSim::Environment::Joints::RbPrismatic::RbPrismatic(), VortexAnimatSim::Environment::Joints::VsHinge::VsHinge(), and VortexAnimatSim::Environment::Joints::VsPrismatic::VsPrismatic().

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bool AnimatSim::Environment::ConstraintLimit::IsShowPosition ( )

virtual

Gets whether this contstraint is actually just being used to show the current position of the joint, as opposed to being used to show the limit of a constraint..

Author: dcofer

Date: 4/11/2011

Returns: true if show position, false if not.

Definition at line 204 of file ConstraintLimit.cpp.

References m_bIsShowPosition.

float AnimatSim::Environment::ConstraintLimit::LimitPos ( )

virtual

Gets the limit position.

Author: dcofer

Date: 3/22/2011

Returns: limit position.

Definition at line 70 of file ConstraintLimit.cpp.

References m_fltLimitPos.

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void AnimatSim::Environment::ConstraintLimit::LimitPos	(	float	fltVal,
		bool	bUseScaling = `true`,
		bool	bOverrideSameCheck = `false`
	)

virtual

Sets the Limit position.

Author: dcofer

Date: 3/22/2011

Parameters

fltVal	The new value.
bUseScaling	true to use unit scaling.
bOverrideSameCheck	true to override the check of whether the currentpos = new pos.

Definition at line 72 of file ConstraintLimit.cpp.

References AnimatSim::Simulator::InverseDistanceUnits(), m_fltLimitPos, m_lpJoint, AnimatSim::AnimatBase::m_lpSim, SetLimitPos(), and AnimatSim::Environment::Joint::UsesRadians().

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void AnimatSim::Environment::ConstraintLimit::QueryProperties ( CStdPtrArray< TypeProperty > & aryProperties )

virtual

Queries this object for a list of properties that can be changed using SetData.

The method provides a list of the properties that can be set using the SetData method. It gives the property name and the type of data that should be passed to it. Valid date types are Boolean, Float, Integer, and Xml.

Author: dcofer

Date: 2/22/2011

Parameters

aryNames	Array list of the property names.
strTypes	Array list of the type that is associated with the cooresponding name in the list.

Returns: Nothing.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 325 of file ConstraintLimit.cpp.

References AnimatSim::AnimatBase::QueryProperties().

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float AnimatSim::Environment::ConstraintLimit::Restitution ( )

virtual

Gets the restitution coefficient of the constraint.

Author: dcofer

Date: 3/22/2011

Returns: restitution coefficient.

Definition at line 101 of file ConstraintLimit.cpp.

References m_fltRestitution.

Referenced by SetData().

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void AnimatSim::Environment::ConstraintLimit::Restitution ( float fltVal )

virtual

Sets the restitution coefficient.

Author: dcofer

Date: 3/22/2011

Parameters

fltVal The new value.

Definition at line 103 of file ConstraintLimit.cpp.

References m_fltRestitution, SetLimitValues(), and StdUtils::Std_IsAboveMin().

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bool AnimatSim::Environment::ConstraintLimit::SetData	(	const std::string &	strDataType,
		const std::string &	strValue,
		bool	bThrowError = `true`
	)

virtual

Set a variable based on a string data type name.

This is a generic method that can be used to set any variable in an AnimatBase object by specifying the name of the variable and a string representation of that data. The GUI uses this method to set data into variables in the simulation when the user changes them in the UI. The value string can be as simple as a float or int, or as complex as an xml packet. It is the developers responsibilty to know what type of data is needed and to process it accordingly.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType	string name of the data type to set.
strValue	The string value of the data. It is up to the developer to determine what this should be. For example, in most cases it is simply a float and you just have to convert it to a float and make the appropriate mutator method call. However, it can be any type of string, including an entire xml packet. It is the developers responsibility to know how to set and process the data as required.
bThrowError	true to throw error if there is a problem. If false then it will not return an error, just return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 280 of file ConstraintLimit.cpp.

References Alpha(), Color(), Damping(), LimitPos(), Restitution(), AnimatSim::AnimatBase::SetData(), StdUtils::Std_CheckString(), and Stiffness().

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virtual void AnimatSim::Environment::ConstraintLimit::SetLimitPos ( )

pure virtual

Sets the limit position using the current value set within the object.

Author: dcofer

Date: 4/11/2011

Implemented in VortexAnimatSim::Environment::Joints::VsPrismaticLimit, VortexAnimatSim::Environment::Joints::VsHingeLimit, BulletAnimatSim::Environment::Joints::BlHingeLimit, BulletAnimatSim::Environment::Joints::BlPrismaticLimit, RoboticsAnimatSim::Environment::Joints::RbHingeLimit, and RoboticsAnimatSim::Environment::Joints::RbPrismaticLimit.

Referenced by VortexAnimatSim::Environment::Joints::VsPrismatic::EnableLimits(), VortexAnimatSim::Environment::Joints::VsHinge::EnableLimits(), and LimitPos().

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virtual void AnimatSim::Environment::ConstraintLimit::SetupGraphics ( )

pure virtual

Sets up the graphics for the constraint.

Author: dcofer

Date: 3/22/2011

Implemented in VortexAnimatSim::Environment::Joints::VsPrismaticLimit, VortexAnimatSim::Environment::Joints::VsHingeLimit, BulletAnimatSim::Environment::Joints::BlHingeLimit, BulletAnimatSim::Environment::Joints::BlPrismaticLimit, RoboticsAnimatSim::Environment::Joints::RbHingeLimit, and RoboticsAnimatSim::Environment::Joints::RbPrismaticLimit.

float AnimatSim::Environment::ConstraintLimit::Stiffness ( )

virtual

Gets the stiffness of the constraint.

Author: dcofer

Date: 3/22/2011

Returns: stiffness.

Definition at line 110 of file ConstraintLimit.cpp.

References m_fltStiffness.

Referenced by SetData().

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void AnimatSim::Environment::ConstraintLimit::Stiffness	(	float	fltVal,
		bool	bUseScaling = `true`
	)

virtual

Sets the stiffness of the constraint.

Author: dcofer

Date: 3/22/2011

Parameters

fltVal	The new value.
bUseScaling	true to use unit scaling.

Definition at line 112 of file ConstraintLimit.cpp.

References AnimatSim::Simulator::InverseMassUnits(), m_fltStiffness, AnimatSim::AnimatBase::m_lpSim, SetLimitValues(), and StdUtils::Std_IsAboveMin().

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void AnimatSim::Environment::ConstraintLimit::VerifySystemPointers ( )

virtual

Verify that system pointers have been set correctly.

The system pointers should be set just after an object is created. However, if for some reason it was not then this could cause read/write memory access errors later on because we would be using NULL pointers. This method is called during SetSystemPointers, Load, and Initialize to verify that the pointers for that type of object have been set correctly. We are calling three different places to ensure that it is checked before use. For example, if you are doing a Load call then you want to check it before attempting the load, but there may be an object that does not Load, but only does Initialize. So we need to check it there as well.

Author: dcofer

Date: 3/4/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 255 of file ConstraintLimit.cpp.

References m_lpJoint, AnimatSim::AnimatBase::m_lpStructure, AnimatSim::AnimatBase::m_strName, and AnimatSim::AnimatBase::VerifySystemPointers().

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Member Data Documentation

bool AnimatSim::Environment::ConstraintLimit::m_bIsShowPosition

protected

Tells whether this contstraint is actually just being used to show the current position of the joint, as opposed to being used to show the limit of a constraint.

Definition at line 48 of file ConstraintLimit.h.

Referenced by ConstraintLimit(), IsShowPosition(), RoboticsAnimatSim::Environment::Joints::RbPrismaticLimit::SetLimitValues(), RoboticsAnimatSim::Environment::Joints::RbHingeLimit::SetLimitValues(), BulletAnimatSim::Environment::Joints::BlPrismaticLimit::SetLimitValues(), BulletAnimatSim::Environment::Joints::BlHingeLimit::SetLimitValues(), and VortexAnimatSim::Environment::Joints::VsPrismaticLimit::SetupGraphics().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation