diff --git a/lwrserv/src/SvrHandling.cpp b/lwrserv/src/SvrHandling.cpp
index 4662606..3695792 100644
--- a/lwrserv/src/SvrHandling.cpp
+++ b/lwrserv/src/SvrHandling.cpp
@@ -12,6 +12,12 @@
 #include "Trajectroy.h"
 #include "LinearTrajectory.h"
 
+/**
+ * Prints for each command within the command array the help texts
+ *
+ * @param client The reference to the client socket Object to exchange messages
+ * @param arg Unused parameter to match Signature of normal commands.
+ */
 void printUsage(SocketObject& client,  std::string& arg)
 {
     (void) arg;
@@ -25,6 +31,10 @@ void printUsage(SocketObject& client,  std::string& arg)
 }
 
 
+/**
+ * Normal Constructor
+ * Initalizes the command array with long/short string version and function pointers for each command.
+ */
 SvrHandling::SvrHandling()
 {
     // add each command which is possible
@@ -242,48 +252,80 @@ end:
             static int trajcetorycount = 0;
             trajcetorycount +=1;
 
-            currentTrajectory->saveToFile(std::string("trajectory/a.csv"));
+            currentTrajectory->saveJointToFile(std::string("trajectory/a.csv"));
             // invalid trajectory skip it
             delete currentTrajectory;
             currentTrajectory = NULL;
         }
     }
 }
+
+/**
+ * default destructor 
+ *
+ * nothing to be done here
+ */
 SvrHandling::~SvrHandling()
 {
 }
 
+/**
+ * Starts the server thread with default port.
+ *
+ * @info will never return and should run in a thread
+ */
 void SvrHandling::run()
 {
     this->run(SVR_DEFAULT_PORT);
 }
 
+/**
+ * Starts the server thread with a specific port.
+ *
+ * @info will never return and should run in a thread
+ * @param port the specific port for the tellnet client interface.
+ */
 void SvrHandling::run(int port)
 {
     std::cout << timestamp() + "Starting " << SVR_NAME << " on port "<< port <<"\n";
-    while (c_state !=done)
+
+    // only abourt loop if state done is reached
+    while (c_state != done)
     {
+        // create new socket and bind it to the speciffic port
         SocketObject *socket = new SocketObject;
         if (socket->Bind(port) <0)
         {
             exit (1);
         }
+
+        // change state for the port to listen
         socket->Listen();
+
+        // wait forever for a client to connect
         while(1)
         {
             SocketObject *client = new SocketObject;
+            // wait for new client
             if (socket->Accept(*client))
             {
+                // do the init verification of the client
                 std::cout << timestamp() + "Client accepted!\n";
                 if (handshakeAccepted(*client))
                 {
+                    // verification was correct
+                    // process all comming commands from client within this loop
                     clientCommandLoop(*client);
                 }
+
+                // client command loop was abourted/closed
+                // disconnect the client
                 client->Disconnect();
                 std::cout << timestamp() + "Client disconnected.\n";
             }
             else
             {
+                // failed to wait for a client
                 std::cout << timestamp() + "Client bin error.\n";
             }
             delete client;
@@ -292,27 +334,46 @@ void SvrHandling::run(int port)
     }
 }
 
+/**
+ * Verification of client by initial sequence commands
+ *
+ * @param client The reference to the client socket Object to exchange messages
+ * @retval Returns true if the client was successfully verified. False otherwise.
+ */
 bool SvrHandling::handshakeAccepted(SocketObject& client)
 {
     this->c_state = handshake;
     std::string message = SVR_HELLO_MSG;
     client.Send(message);
     client.Recv(message);
+    /// check for initial sequence comming from client
     if (message.find(SVR_HANDSHAKE,0) != std::string::npos)
     {
+        /// inital sequence was correct 
+        /// accept client
         c_state = accepted;
         message = SVR_ACCEPTED;
     }
     else
     {
+        /// initial sequence was incorrect
+        /// refuse client connection
         c_state = waiting;
         message = SVR_FAILED;
         std::cout << timestamp() + "Handshake failed. " << "Invalid recv msg \'" << message <<"\'";
     }
+    /// send response to the client
     client.Send(message);
-    return(c_state == accepted);
+
+    return (c_state == accepted);
 }
 
+/**
+ * Processes each command comming from client.
+ *
+ * @param client The reference to the client socket Object to exchange messages
+ * @retval Returns true if the client was successfully verified. False otherwise.
+ */
 void SvrHandling::clientCommandLoop(SocketObject& client)
 {
     std::string message, cmd, arg;
@@ -327,12 +388,14 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
             if (cmd == "") 
                 continue;
 
-            // check command table for equivalence
+            /// check command table for equivalence command 
             bool match = false;
             for (unsigned int i = 0 ; i < commandCount ; ++ i)
             {
                 if (cmd == commands[i].longVersion || cmd == commands[i].aberration)
                 {
+                    /// found equivalent command
+                    /// process command function if implemented
                     if (commands[i].processCommand != NULL)
                     {
                         commands[i].processCommand(client,arg);
@@ -340,7 +403,8 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
                     {
                         client.Send(SVR_UNIMPLEMENTED_COMMAND);
                     }
-                    match = true;
+
+                    // break up search
                     match = true;
                     break;
                 }
@@ -348,6 +412,7 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
             // command not found
             if (match == false)
             {
+                // send returnvalue and print help
                 client.Send(SVR_UNKNOWN_COMMAND);
                 printUsage(client, arg);
             }
@@ -360,6 +425,13 @@ void SvrHandling::clientCommandLoop(SocketObject& client)
     }
 }
 
+/**
+ * Helper function to generate a string with courent timestamp.
+ *
+ * Output is in Y-m-d-H-M-S format.
+ *
+ * @retval String containg the current timespamp.
+ */
 std::string SvrHandling::timestamp()
 {
     time_t rawtime;