/** @defgroup base The Base Module (base) 
\brief The CARMEN base driver provides an generic interface to the robot base hardware.
@{

 The module base provides an generic interface to the robot base hardware.
@}
 **/



/** @defgroup camera The Camera Module (camera) 
\brief The CARMEN camera driver for cameras.
@{

 The module camera provides an interface to camera hardware.
@}
 **/



/** @defgroup global The Global Module (global) 
\brief The CARMEN global module provides a set of important functions and libraries.
@{

 The module global provides a set of important functions and libraries.
@}
 **/


/** @defgroup gps The GPS Module (gps) 
\brief The CARMEN gps driver for consumer gps devices.
@{

 The module gps provides a driver for consumer gps devices like
Garmin, Sirf. It provides two NMEA messages, gga and rmc.

@} **/


/** @defgroup ipc The IPC Module (ipc) 
\brief The CARMEN ipc module provides the communication infrastructure.
@{

 The module ipc provides the communication infrastructure. It uses the
Inter-Process-Communication to send message between modules.

@} **/


/** @defgroup joystick The Joystick Module (joystick) 
\brief The CARMEN joystick module provides joystick support to control the robot. 
@{

 The module joystick provides joystick support to control the robot.
@} **/



/** @defgroup laser The Laser Module (laser) 
\brief The CARMEN laser driver.
@{

 The module laser the the driver for the laser range
 sensors. Currently supported are SICK LMS and PLS range finders only.
 The support for the Hokuyo URG will be provided soon.

@}
 **/


/** @defgroup localize The Localize Module (localize) 
\brief The CARMEN localization module.
@{

 The module localize provides Monte-Carlo localization for CARMEN. It
 furthermore provides the library localizecore which contains all
 relevant MCL functionality.

@}
 **/


/** @defgroup logger The Logger and Playback Module (logger) 
\brief The CARMEN logger and playback module.
@{

 The module logger provides functionalities to log and playback sensor
 data. Furthermore it provides a library to read and write log files.

@}
 **/

/** @defgroup logtools The Logtools Module (logtools) 
\brief The CARMEN logtools module.
@{

 A set of small tool for log files. 
	
@}
 **/

/** @defgroup maptools The Maptools Module (maptools) 
\brief The CARMEN maptools module.
@{

 A set of small tool for maps.
	
@}
 **/


/** @defgroup navigator The Navigator Module (navigator) 
\brief The CARMEN navigator module.

@{ The CARMEN navigator module the provides path planning module to guide the
  robot through the environment.

  The navigator module consists of 4 main components: 
  <ol> 

  <li>A motion planning library, contained in libconventional.a. This library
  computes the shortest path through the current map by computing a utility
  function, and extracting from the utility function a sequence of grid cells
  that arrives at the goal with the shortest path.  
  <li>A planner abstraction that allows laser data to update the internal
  map representation, recomputes any additional structures (e.g., the cost
  map and utility functions as a result of the updated map), and returns
  a path as a sequence of way points by greedy split-and-merge on the 
  grid cell path sequence.
  <li>A navigator abstraction that manages IPC, and uses a P-D loop to
  servo the robot towards the next waypoint in the path.
  <li>A navigator GUI that reports on the state of the robot, path, etc. 
  </ol> @} **/


/** @defgroup pantilt The Pantilt Module (pantilt) 
\brief The CARMEN pantilt driver the provides support for pantilts .
@{

 The module pantilt provides support for pantilt hardware.

@}
 **/


/** @defgroup param_daemon The ParamDaemon Module (param_daemon) 
\brief The CARMEN param_daemon module provides access to the ini file.
@{

 The module param_daemon provides support to get and set ini file parameter.

@}
 **/


/** @defgroup proccontrol The ProcessControl Module (proccontrol) 
\brief The CARMEN proccontrol module.
@{

 The module proccontrol provides tools to control the modules in CARMEN.

@}
 **/


/** @defgroup robot The Robot Module (robot) 
\brief The CARMEN robot module the provides an abstract view to the hardware.
@{

 The module robot the provides an abstract view to the hardware. It
 combines the odometry information with the laser data...

@}
 **/


/** @defgroup simulator The Simulator Module (simulator) 
\brief The CARMEN simulator module the provides a 2d robot simulator.
@{

 The module simulator provides a 2d robot simulator for the hardware
 of the robot.

@}
 **/


/** @defgroup vasco The Vasco Module (vasco) 
\brief The CARMEN vasco module the provides the mapper for CARMEN.
@{

 The module vasco provides a mapper.

@}
 **/


/*
# gui

*/
