diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index 1d1e2330883b2e7fd79b1b5b3600bc92668c3578..16543e1b947a0ce0a833ef8a5fd86b96445a37ea 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -9,6 +9,7 @@
* @see xrt_quat
* @see xrt_pose
* @see xrt_space_relation
+ * @ingroup aux_math
*/
#pragma once
@@ -20,12 +21,21 @@ extern "C" {
#endif
+/*!
+ * @defgroup aux_math Math
+ * @ingroup aux
+ *
+ * @brief C interface to some transform-related math functions.
+ */
+
/*!
* @dir auxiliary/math
+ * @ingroup aux
*
* @brief C interface to some transform-related math functions.
*/
+
/*
*
* Vector functions
@@ -39,6 +49,7 @@ extern "C" {
* OK if the two arguments are the same addresses.
*
* @relates xrt_vec3
+ * @ingroup aux_math
*/
void
math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut);
@@ -54,6 +65,7 @@ math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut);
*
* @relates xrt_quat
* @relatesalso xrt_vec3
+ * @ingroup aux_math
*/
void
math_quat_rotate_vec3(const struct xrt_quat *left,
@@ -64,6 +76,7 @@ math_quat_rotate_vec3(const struct xrt_quat *left,
* Rotate a quaternion (compose rotations).
*
* @relates xrt_quat
+ * @ingroup aux_math
*/
void
math_quat_rotate(const struct xrt_quat *left,
@@ -80,6 +93,7 @@ math_quat_rotate(const struct xrt_quat *left,
*
* @relates xrt_quat
* @relatesalso xrt_vec3
+ * @ingroup aux_math
*/
void
math_quat_integrate_velocity(const struct xrt_quat *quat,
@@ -98,6 +112,7 @@ math_quat_integrate_velocity(const struct xrt_quat *quat,
*
* @relates xrt_quat
* @relatesalso xrt_vec3
+ * @ingroup aux_math
*/
void
math_quat_finite_difference(const struct xrt_quat *quat0,
@@ -115,6 +130,7 @@ math_quat_finite_difference(const struct xrt_quat *quat0,
* Check if this pose can be used in transformation operations.
*
* @relates xrt_pose
+ * @ingroup aux_math
*/
bool
math_pose_validate(const struct xrt_pose *pose);
@@ -125,6 +141,7 @@ math_pose_validate(const struct xrt_pose *pose);
* OK if input and output are the same addresses.
*
* @relates xrt_pose
+ * @ingroup aux_math
*/
void
math_pose_invert(const struct xrt_pose *pose, struct xrt_pose *outPose);
@@ -135,6 +152,7 @@ math_pose_invert(const struct xrt_pose *pose, struct xrt_pose *outPose);
* OK if input and output are the same addresses.
*
* @relates xrt_pose
+ * @ingroup aux_math
*/
void
math_pose_transform(const struct xrt_pose *transform,
@@ -150,6 +168,7 @@ math_pose_transform(const struct xrt_pose *transform,
* OK if input and output are the same addresses.
*
* @relates xrt_pose
+ * @ingroup aux_math
*/
void
math_pose_openxr_locate(const struct xrt_pose *space_pose,
@@ -167,6 +186,7 @@ math_pose_openxr_locate(const struct xrt_pose *space_pose,
* Reset a relation to zero velocity, located at origin, and all validity flags.
*
* @relates xrt_space_relation
+ * @ingroup aux_math
*/
void
math_relation_reset(struct xrt_space_relation *out);
@@ -179,6 +199,7 @@ math_relation_reset(struct xrt_space_relation *out);
*
* @relates xrt_space_relation
* @see xrt_pose
+ * @ingroup aux_math
*/
void
math_relation_accumulate_transform(const struct xrt_pose *transform,
@@ -190,6 +211,7 @@ math_relation_accumulate_transform(const struct xrt_pose *transform,
* Updates all valid pose and derivative fields, as well as the validity mask.
*
* @relates xrt_space_relation
+ * @ingroup aux_math
*/
void
math_relation_accumulate_relation(
@@ -207,6 +229,7 @@ math_relation_accumulate_relation(
*
* @relates xrt_space_relation
* @see xrt_pose
+ * @ingroup aux_math
*/
void
math_relation_openxr_locate(const struct xrt_pose *space_pose,
@@ -254,6 +277,7 @@ math_relation_openxr_locate(const struct xrt_pose *space_pose,
* ```
*
* @return true if successful.
+ * @ingroup aux_math
*/
bool
math_compute_fovs(double w_total,
diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index ca3a248db2f93a8751d486342ff8257209918b1f..312bef066676bca78ecc77f30ce4b4789a10b591 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -5,6 +5,7 @@
* @brief Base implementations for math library.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ * @ingroup aux_math
*/
#include <Eigen/Core>
diff --git a/src/xrt/auxiliary/math/m_eigen_interop.h b/src/xrt/auxiliary/math/m_eigen_interop.h
index 8ea1c1748e7e2c61034903f2547aa4d98928955d..750637f95dfcb08e164d3fb5bc6b8defca862406 100644
--- a/src/xrt/auxiliary/math/m_eigen_interop.h
+++ b/src/xrt/auxiliary/math/m_eigen_interop.h
@@ -4,6 +4,7 @@
* @file
* @brief Interoperability helpers connecting internal math types and Eigen.
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ * @ingroup aux_math
*/
#pragma once
diff --git a/src/xrt/auxiliary/math/m_optics.c b/src/xrt/auxiliary/math/m_optics.c
index fb1efae797f711910939f0d94a4ce61a6a77eab2..d22a914ab72b73a3819d3e57b3648978fda9d66f 100644
--- a/src/xrt/auxiliary/math/m_optics.c
+++ b/src/xrt/auxiliary/math/m_optics.c
@@ -4,6 +4,7 @@
* @file
* @brief Functions related to field-of-view.
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ * @ingroup aux_math
*/
diff --git a/src/xrt/auxiliary/math/m_quatexpmap.cpp b/src/xrt/auxiliary/math/m_quatexpmap.cpp
index 31a526c785435e02899f5f1a342d5c7cc26a1c3c..2c94f4f21e16ce9bb22c45c324a6155865aa8144 100644
--- a/src/xrt/auxiliary/math/m_quatexpmap.cpp
+++ b/src/xrt/auxiliary/math/m_quatexpmap.cpp
@@ -5,6 +5,7 @@
* @file
* @brief Base implementations for math library.
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ * @ingroup aux_math
*
* Based in part on inc/osvr/Util/EigenQuatExponentialMap.h in OSVR-Core
*/
diff --git a/src/xrt/auxiliary/util/u_documentation.h b/src/xrt/auxiliary/util/u_documentation.h
index 4116065ab7495653b56d617834e3e4cd9fd3e523..134e959b1a3b27b4f6e9b94df199180d51b13ea8 100644
--- a/src/xrt/auxiliary/util/u_documentation.h
+++ b/src/xrt/auxiliary/util/u_documentation.h
@@ -27,7 +27,7 @@
/*!
* @dir auxiliary
- * @ingroup aux
+ * @ingroup xrt
*
* @brief Shared code and helpers for Monado.
*/