Index: orxonox/branches/chris/src/collision.cc
===================================================================
--- orxonox/branches/chris/src/collision.cc	(revision 2011)
+++ orxonox/branches/chris/src/collision.cc	(revision 2012)
@@ -177,7 +177,4 @@
 }
 
-/**
-   \brief recursive implementation for collision detection within a CC_Tree
-*/
 bool cctree_iterate(const Placement* pa, CC_Tree* ta, unsigned long* ahitflags, const Placement* pb, CC_Tree* tb, unsigned long* bhitflags)
 {
@@ -333,7 +330,4 @@
 }
 
-/**
-   \brief recursive implementation for traceing detection within a CC_Tree
-*/
 bool cctree_trace( const Placement* p, CC_Tree* t, unsigned long* hitflags, const Line* trace, Vector* impactpoint)
 {
Index: orxonox/branches/chris/src/collision.h
===================================================================
--- orxonox/branches/chris/src/collision.h	(revision 2011)
+++ orxonox/branches/chris/src/collision.h	(revision 2012)
@@ -21,4 +21,5 @@
 } CC_Tree;
 
+//! Basic collision detection class
 /**
   This class implements a more or less efficient collision system based on nested hitzones.
@@ -34,5 +35,4 @@
   of a trace, the exact point of interception is returned as well.
 */
-
 class CollisionCluster {
   
Index: orxonox/branches/chris/src/coordinates.h
===================================================================
--- orxonox/branches/chris/src/coordinates.h	(revision 2011)
+++ orxonox/branches/chris/src/coordinates.h	(revision 2012)
@@ -4,16 +4,24 @@
 #include "vector.h"
 
-typedef struct Location // place of a thing on the track system
+//! Coordinates relative to track
+/**
+  This identifies the position of an object on the track system
+*/
+typedef struct Location
 {
-  unsigned long part;   // ID of the track part the object is on
-  float dist;           // distance already traveled on a track
-  Vector pos;           // position relative to the distance already covered
-  Rotation rot;         // direction the object is heading (relative to track direction)
+  unsigned long part;   //!< ID of the track part the object is on
+  float dist;           //!< The distance that has already been traveled on the track
+  Vector pos;           //!< The position relative to the offset marked by the distance already covered
+  Rotation rot;         //!< The direction the object is heading (relative to track direction)
 } Location;
 
-typedef struct Placement // place of a thing in the rendered coordinate system
+//! Absolute coordinates
+/**
+  This is used to store the position of a object in the rendered coordinate system
+*/
+typedef struct Placement
 {
-  Vector r;              // x/y/z coordinated
-  Rotation w;            // orientation
+  Vector r;              //!< Absolute x/y/z coordinates
+  Rotation w;            //!< Absolute orientation
 } Placement;
 
Index: orxonox/branches/chris/src/vector.h
===================================================================
--- orxonox/branches/chris/src/vector.h	(revision 2011)
+++ orxonox/branches/chris/src/vector.h	(revision 2012)
@@ -6,4 +6,5 @@
 #define PI 3.14159265359f
 
+//! 3D vector
 /**
   Class for 3-dimensional vector calculation
@@ -17,5 +18,5 @@
   float x, y, z;
 
-  Vector (float x, float y, float z) : x(x), y(y), z(z) {}
+  Vector (float x, float y, float z) : x(x), y(y), z(z) {}  //!< assignment constructor
   Vector () : x(0), y(0), z(0) {}
   ~Vector () {}
@@ -35,4 +36,5 @@
 float angle_rad (const Vector& v1, const Vector& v2);
 
+//! 3D rotation
 /**
   Class to handle 3-dimensional rotations
@@ -43,5 +45,5 @@
   public:
   
-  float m[9];
+  float m[9]; //< 3x3 Rotation Matrix
   
   Rotation ( const Vector& v);
@@ -55,4 +57,5 @@
 Vector rotate_vector( const Vector& v, const Rotation& r);
 
+//! 3D line
 /**
   Class to store Lines in 3-dimensional space
@@ -64,7 +67,8 @@
   public:
   
-  Vector r, a;
+  Vector r;   //!< Offset
+  Vector a;   //!< Direction
   
-  Line ( Vector r, Vector a) : r(r), a(a) {}
+  Line ( Vector r, Vector a) : r(r), a(a) {}  //!< assignment constructor
   Line () : r(Vector(0,0,0)), a(Vector (1,1,1)) {}
   ~Line () {}
@@ -78,7 +82,8 @@
 };
 
+//! 3D plane
 /**
   Class to handle planes in 3-dimensional space
-
+  
   Critical for polygon-based collision detection
 */
@@ -87,10 +92,10 @@
   public:
   
-  Vector n;
-  float k;
+  Vector n;   //!< Normal vector
+  float k;    //!< Offset constant
   
   Plane (Vector a, Vector b, Vector c);
   Plane (Vector norm, Vector p);
-  Plane (Vector n, float k) : n(n), k(k) {}
+  Plane (Vector n, float k) : n(n), k(k) {} //!< assignment constructor
   Plane () : n(Vector(1,1,1)), k(0) {}
   ~Plane () {}
