Move UrDriver component description to own file

doc/architecture.rst

@@ -22,28 +22,4 @@ fully functioning robot interface. For details on how to use it, please see the
    architecture/script_command_interface
    architecture/script_sender
    architecture/trajectory_point_interface
-
-
-The ``UrDriver``'s modules will be explained in the following.
-
-
-
-Other public interface functions
---------------------------------
-
-This section shall explain the public interface functions that haven't been covered above
-
-
-check_calibration()
-^^^^^^^^^^^^^^^^^^^
-
-This function opens a connection to the primary interface where it will receive a calibration
-information as the first message. The checksum from this calibration info is compared to the one
-given to this function. Connection to the primary interface is dropped afterwards.
-
-sendScript()
-^^^^^^^^^^^^
-
-This function sends given URScript code directly to the secondary interface. The
-``sendRobotProgram()`` function is a special case that will send the script code given in the
-``RTDEClient`` constructor.
+   architecture/ur_driver

doc/architecture/ur_driver.rst

@@ -0,0 +1,50 @@
+.. _ur_driver:
+
+UrDriver
+========
+
+The ``UrDriver`` class is the core of this library. It creates an interface to the robot containing
+all components from this library.
+
+When creating an instance of the ``UrDriver`` class, the created object will contain
+
+- a :ref:`DashboardClient <dashboard_client>`
+- a :ref:`ReverseInterface <reverse_interface>`
+- an :ref:`RTDEClient <rtde_client>`
+- a :ref:`ScriptCommandInterface <script_command_interface>`
+- a :ref:`ScriptSender <script_sender>`
+- a :ref:`TrajectoryPointInterface <trajectory_point_interface>`.
+- a rudimentary client to the robot's secondary interface
+- a couple of helper functions
+
+As this page is not meant to be a full-blown API documentation, not every public method will be
+explained here. For a full list of public methods, please inspect class definition in the
+`ur_client_library/ur/ur_driver.h
+<https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/include/ur_client_library/ur/ur_driver.h>`_
+header file.
+
+Many functions from the individual components are directly wrapped in the ``UrDriver`` class, for
+example there is ``UrDriver::startForceMode(...)`` which is a wrapper around the
+``ScriptCommandInterface::startForceMode(...)`` function.
+
+As an example on how to use this class, please see the `full_driver.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/full_driver.cpp>`_ example.
+
+Public helper functions
+-----------------------
+
+``checkCalibration(const std::string checksum)``
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This function opens a connection to the primary interface where it will receive a calibration
+information as the first message. The checksum from this calibration info is compared to the one
+given to this function. Connection to the primary interface is dropped afterwards.
+
+``sendScript(const std::string& program)``
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This function sends given URScript code directly to the secondary interface. The
+``sendRobotProgram()`` function is a special case that will send the script code given in the
+``RTDEClient`` constructor.
+
+
+