adding doxygen to costmap_2d

nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp

@@ -31,17 +31,31 @@ namespace nav2_costmap_2d
 
 class Costmap2DROS;
 
+/**
+ * @class ClearCostmapService
+ * @brief Exposes services to clear costmap objects in inclusive/exclusive regions or completely
+ */
 class ClearCostmapService
 {
 public:
+  /**
+   * @brief A constructor
+   */
   ClearCostmapService(const nav2_util::LifecycleNode::WeakPtr & parent, Costmap2DROS & costmap);
 
+  /**
+   * @brief A constructor
+   */
   ClearCostmapService() = delete;
 
-  // Clears the region outside of a user-specified area reverting to the static map
+  /**
+   * @brief Clears the region outside of a user-specified area reverting to the static map
+   */
   void clearRegion(double reset_distance, bool invert);
 
-  // Clears all layers
+  /**
+   * @brief Clears all layers
+   */
   void clearEntirely();
 
 private:
@@ -57,27 +71,42 @@ class ClearCostmapService
 
   // Server for clearing the costmap
   rclcpp::Service<nav2_msgs::srv::ClearCostmapExceptRegion>::SharedPtr clear_except_service_;
+  /**
+   * @brief Callback to clear costmap except in a given region
+   */
   void clearExceptRegionCallback(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<nav2_msgs::srv::ClearCostmapExceptRegion::Request> request,
     const std::shared_ptr<nav2_msgs::srv::ClearCostmapExceptRegion::Response> response);
 
   rclcpp::Service<nav2_msgs::srv::ClearCostmapAroundRobot>::SharedPtr clear_around_service_;
+  /**
+   * @brief Callback to clear costmap in a given region
+   */
   void clearAroundRobotCallback(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<nav2_msgs::srv::ClearCostmapAroundRobot::Request> request,
     const std::shared_ptr<nav2_msgs::srv::ClearCostmapAroundRobot::Response> response);
 
   rclcpp::Service<nav2_msgs::srv::ClearEntireCostmap>::SharedPtr clear_entire_service_;
+  /**
+   * @brief Callback to clear costmap
+   */
   void clearEntireCallback(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<nav2_msgs::srv::ClearEntireCostmap::Request> request,
     const std::shared_ptr<nav2_msgs::srv::ClearEntireCostmap::Response> response);
 
+  /**
+   * @brief  Function used to clear a given costmap layer
+   */
   void clearLayerRegion(
     std::shared_ptr<CostmapLayer> & costmap, double pose_x, double pose_y, double reset_distance,
     bool invert);
 
+  /**
+   * @brief Get the robot's position in the costmap using the master costmap
+   */
   bool getPosition(double & x, double & y) const;
 };
 

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp

@@ -258,11 +258,19 @@ class Costmap2D
    */
   double getResolution() const;
 
+  /**
+   * @brief Set the default background value of the costmap
+   * @param c default value
+   */
   void setDefaultValue(unsigned char c)
   {
     default_value_ = c;
   }
 
+  /**
+   * @brief Get the default background value of the costmap
+   * @return default value
+   */
   unsigned char getDefaultValue()
   {
     return default_value_;
@@ -309,12 +317,21 @@ class Costmap2D
    */
   bool saveMap(std::string file_name);
 
+  /**
+   * @brief Resize the costmap
+   */
   void resizeMap(
     unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
     double origin_y);
 
+  /**
+   * @brief Reset the costmap in bounds
+   */
   void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn);
 
+  /**
+   * @brief Reset the costmap in bounds to a value
+   */
   void resetMapToValue(
     unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value);
 
@@ -390,7 +407,8 @@ class Costmap2D
    * @param  y0 The starting y coordinate
    * @param  x1 The ending x coordinate
    * @param  y1 The ending y coordinate
-   * @param  max_length The maximum desired length of the segment... allows you to not go all the way to the endpoint
+   * @param  max_length The maximum desired length of the segment...
+   * allows you to not go all the way to the endpoint
    * @param  min_length The minimum desired length of the segment
    */
   template<class ActionType>
@@ -426,7 +444,7 @@ class Costmap2D
     if (abs_dx >= abs_dy) {
       int error_y = abs_dx / 2;
 
-      // Subtract min_length from total length since initial point (x0, y0) has been adjusted by min Z
+      // Subtract minlength from length since initial point (x0, y0)has been adjusted by min Z
       length = (unsigned int)(scale * abs_dx) - min_length;
 
       bresenham2D(
@@ -437,15 +455,16 @@ class Costmap2D
     // otherwise y is dominant
     int error_x = abs_dy / 2;
 
-    // Subtract min_length from total length since initial point (x0, y0) has been adjusted by min Z
+    // Subtract minlength from total length since initial point (x0, y0) has been adjusted by min Z
     length = (unsigned int)(scale * abs_dy) - min_length;
     bresenham2D(
       at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, length);
   }
 
 private:
   /**
-   * @brief  A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step
+   * @brief  A 2D implementation of Bresenham's raytracing algorithm...
+   * applies an action at each step
    */
   template<class ActionType>
   inline void bresenham2D(
@@ -467,6 +486,9 @@ class Costmap2D
     at(offset);
   }
 
+  /**
+   * @brief get the sign of an int
+   */
   inline int sign(int x)
   {
     return x > 0 ? 1.0 : -1.0;

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp

@@ -78,19 +78,34 @@ class Costmap2DPublisher
    */
   ~Costmap2DPublisher();
 
+  /**
+   * @brief Configure node
+   */
   void on_configure() {}
+
+  /**
+   * @brief Activate node
+   */
   void on_activate()
   {
     costmap_pub_->on_activate();
     costmap_update_pub_->on_activate();
     costmap_raw_pub_->on_activate();
   }
+
+  /**
+   * @brief deactivate node
+   */
   void on_deactivate()
   {
     costmap_pub_->on_deactivate();
     costmap_update_pub_->on_deactivate();
     costmap_raw_pub_->on_deactivate();
   }
+
+  /**
+   * @brief Cleanup node
+   */
   void on_cleanup() {}
 
   /** @brief Include the given bounds in the changed-rectangle. */

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

@@ -90,12 +90,34 @@ class Costmap2DROS : public nav2_util::LifecycleNode
     const std::string & parent_namespace,
     const std::string & local_namespace);
 
+  /**
+   * @brief A destructor
+   */
   ~Costmap2DROS();
 
+  /**
+   * @brief Configure node
+   */
   nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Activate node
+   */
   nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Deactivate node
+   */
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Cleanup node
+   */
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief shutdown node
+   */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
   /**
@@ -120,6 +142,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   void resume();
 
+  /**
+   * @brief Update the map with the layered costmap / plugins
+   */
   void updateMap();
 
   /**
@@ -190,6 +215,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode
     return robot_base_frame_;
   }
 
+  /**
+   * @brief Get the layered costmap object used in the node
+   */
   LayeredCostmap * getLayeredCostmap()
   {
     return layered_costmap_.get();
@@ -284,6 +312,10 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   std::unique_ptr<LayeredCostmap> layered_costmap_{nullptr};
   std::string name_;
   std::string parent_namespace_;
+
+  /**
+   * @brief Function on timer for costmap update
+   */
   void mapUpdateLoop(double frequency);
   bool map_update_thread_shutdown_{false};
   bool stop_updates_{false};
@@ -294,7 +326,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   rclcpp::Duration publish_cycle_{1, 0};
   pluginlib::ClassLoader<Layer> plugin_loader_{"nav2_costmap_2d", "nav2_costmap_2d::Layer"};
 
-  // Parameters
+  /**
+   * @brief Get parameters for node
+   */
   void getParameters();
   bool always_send_full_costmap_{false};
   std::string footprint_;

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp

@@ -54,7 +54,13 @@ namespace nav2_costmap_2d
 class CostmapFilter : public Layer
 {
 public:
+  /**
+   * @brief A constructor
+   */
   CostmapFilter();
+  /**
+   * @brief A destructor
+   */
   ~CostmapFilter();
 
   /**
@@ -69,18 +75,53 @@ class CostmapFilter : public Layer
     return access_;
   }
 
-  /** Layer API **/
+  /**
+   * @brief Initialization process of layer on startup
+   */
   virtual void onInitialize() final;
+
+  /**
+   * @brief Update the bounds of the master costmap by this layer's update dimensions
+   * @param robot_x X pose of robot
+   * @param robot_y Y pose of robot
+   * @param robot_yaw Robot orientation
+   * @param min_x X min map coord of the window to update
+   * @param min_y Y min map coord of the window to update
+   * @param max_x X max map coord of the window to update
+   * @param max_y Y max map coord of the window to update
+   */
   virtual void updateBounds(
     double robot_x, double robot_y, double robot_yaw,
     double * min_x, double * min_y, double * max_x, double * max_y) final;
+
+  /**
+   * @brief Update the costs in the master costmap in the window
+   * @param master_grid The master costmap grid to update
+   * @param min_x X min map coord of the window to update
+   * @param min_y Y min map coord of the window to update
+   * @param max_x X max map coord of the window to update
+   * @param max_y Y max map coord of the window to update
+   */
   virtual void updateCosts(
     nav2_costmap_2d::Costmap2D & master_grid,
     int min_i, int min_j, int max_i, int max_j) final;
 
+  /**
+   * @brief Activate the layer
+   */
   virtual void activate() final;
+  /**
+   * @brief Deactivate the layer
+   */
   virtual void deactivate() final;
+  /**
+   * @brief Reset the layer
+   */
   virtual void reset() final;
+
+  /**
+   * @brief If clearing operations should be processed on this layer or not
+   */
   virtual bool isClearable() {return false;}
 
   /** CostmapFilter API **/

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/keepout_filter.hpp

@@ -50,25 +50,51 @@
 namespace nav2_costmap_2d
 {
 
+/**
+ * @class KeepoutFilter
+ * @brief Reads in a keepout mask and marks keepout regions in the map
+ * to prevent planning or control in restricted areas
+ */
 class KeepoutFilter : public CostmapFilter
 {
 public:
+  /**
+   * @brief A constructor
+   */
   KeepoutFilter();
 
+  /**
+   * @brief Initialize the filter and subscribe to the info topic
+   */
   void initializeFilter(
     const std::string & filter_info_topic);
 
+  /**
+   * @brief Process the keepout layer at the current pose / bounds / grid
+   */
   void process(
     nav2_costmap_2d::Costmap2D & master_grid,
     int min_i, int min_j, int max_i, int max_j,
     const geometry_msgs::msg::Pose2D & pose);
 
+  /**
+   * @brief Reset the costmap filter / topic / info
+   */
   void resetFilter();
 
+  /**
+   * @brief If this filter is active
+   */
   bool isActive();
 
 private:
+  /**
+   * @brief Callback for the filter information
+   */
   void filterInfoCallback(const nav2_msgs::msg::CostmapFilterInfo::SharedPtr msg);
+  /**
+   * @brief Callback for the filter mask
+   */
   void maskCallback(const nav_msgs::msg::OccupancyGrid::SharedPtr msg);
 
   rclcpp::Subscription<nav2_msgs::msg::CostmapFilterInfo>::SharedPtr filter_info_sub_;