From ac4d0affdb90915ec22a42130605c61f34b89865 Mon Sep 17 00:00:00 2001
From: Shivang Patel <shivaang14@gmail.com>
Date: Thu, 24 Oct 2019 13:16:49 -0400
Subject: [PATCH] Add doxygen doc to nav2_planner header file. (#1288)
* Add doxygen doc to nav2_planner header file.
* Address PR feedback
---
.../include/nav2_planner/planner_server.hpp | 52 +++++++++++++++++--
1 file changed, 48 insertions(+), 4 deletions(-)
diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
index 873c3f19..31e00bf0 100644
--- a/nav2_planner/include/nav2_planner/planner_server.hpp
+++ b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -38,20 +38,59 @@
namespace nav2_planner
{
-
+/**
+ * @class nav2_planner::PlannerServer
+ * @brief An action server implements the behavior tree's ComputePathToPose
+ * interface and hosts various plugins of different algorithms to compute plans.
+ */
class PlannerServer : public nav2_util::LifecycleNode
{
public:
+ /**
+ * @brief A constructor for nav2_planner::PlannerServer
+ */
PlannerServer();
+ /**
+ * @brief A destructor for nav2_planner::PlannerServer
+ */
~PlannerServer();
protected:
- // Implement the lifecycle interface
+ /**
+ * @brief Configure member variables and initializes planner
+ * @param state Reference to LifeCycle node state
+ * @return SUCCESS or FAILURE
+ */
nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
+ /**
+ * @brief Activate member variables
+ * @param state Reference to LifeCycle node state
+ * @return SUCCESS or FAILURE
+ */
nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
+ /**
+ * @brief Deactivate member variables
+ * @param state Reference to LifeCycle node state
+ * @return SUCCESS or FAILURE
+ */
nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
+ /**
+ * @brief Reset member variables
+ * @param state Reference to LifeCycle node state
+ * @return SUCCESS or FAILURE
+ */
nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
+ /**
+ * @brief Called when in shutdown state
+ * @param state Reference to LifeCycle node state
+ * @return SUCCESS or FAILURE
+ */
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
+ /**
+ * @brief Called when in error state
+ * @param state Reference to LifeCycle node state
+ * @return SUCCESS or FAILURE
+ */
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
using ActionServer = nav2_util::SimpleActionServer<nav2_msgs::action::ComputePathToPose>;
@@ -59,10 +98,15 @@ protected:
// Our action server implements the ComputePathToPose action
std::unique_ptr<ActionServer> action_server_;
- // The action server callback
+ /**
+ * @brief The action server callback which calls planner to get the path
+ */
void computePathToPose();
- // Publish a path for visualization purposes
+ /**
+ * @brief Publish a path for visualization purposes
+ * @param path Reference to Global Path
+ */
void publishPlan(const nav_msgs::msg::Path & path);
// Planner
--
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