diff --git a/include/opendrive_road.h b/include/opendrive_road.h
index 70736390774e5a71849852d64f09ea9740516606..b38b32a2b4466377072908d346549f22436c98ef 100644
--- a/include/opendrive_road.h
+++ b/include/opendrive_road.h
@@ -41,22 +41,158 @@ class COpendriveRoad
void reindex(void);
void prune(std::vector<unsigned int> &path_nodes);
public:
+ /**
+ * \brief Default constructor
+ */
COpendriveRoad();
+ /**
+ * \brief Copy constructor
+ *
+ * \param object constant reference to the object to be copied
+ */
COpendriveRoad(const COpendriveRoad& object);
+ /**
+ * \brief Load an Opendrive road description
+ *
+ * This function loads the Opendrive description file initializes the internal
+ * data structures. If the file referenced by the parameter does not exist or
+ * the format is not valid, this function will throw an exception.
+ *
+ * \param filename the name of the opendrive file to load with the extension
+ * and the full path.
+ */
void load(const std::string &filename);
+ /**
+ * \brief Sets the resolution
+ *
+ * This functions sets the default resolution used to generate all the internal
+ * geomtry. This functions automatically changes the resolution of all underlying
+ * objects.
+ *
+ * \param res desired value of the resolution in meters. The default resolution
+ * is 0.1 m.
+ */
void set_resolution(double res);
+ /**
+ * \brief Sets the scale factor
+ *
+ * This function sets the scale factor to be applied to all the internal geometry.
+ * The scale factor makes it possible to change the size of the road withou actually
+ * modifying the internal geometry data. This functions automatically changes
+ * the scale factor of all underlying objects.
+ *
+ * \param scale desired scale factor. A value bigger than 1.0 will scale down the
+ * road and a value smaller than 1.0 will scale it up. The default
+ * value is 1.0.
+ */
void set_scale_factor(double scale);
+ /**
+ * \brief Sets the minim road length
+ *
+ * This function sets the length threshold to include any imported road segments into
+ * the internal structure. This functions automatically changes the minimum road length
+ * of all underlying objects.
+ *
+ * \param length threshold value to include a road segment. The default value is 0.01.
+ */
void set_min_road_length(double length);
+ /**
+ * \brief Returns the resolution
+ *
+ * \return This function returns the current resolution
+ */
double get_resolution(void) const;
+ /**
+ * \brief Returns the scale factor
+ *
+ * \return This function returns the current scale factor
+ */
double get_scale_factor(void) const;
+ /**
+ * \brief Returns the minimum road length
+ *
+ * \return This function returns the current minimum road length
+ */
double get_min_road_length(void) const;
+ /**
+ * \brief Returns the number of road segment objects in the whole road
+ *
+ * \return This function returns the number of road segments present in
+ * whole road. The range of valid indexes goes from 0 to the
+ * value returned by this function -1.
+ */
unsigned int get_num_segments(void) const;
+ /**
+ * \brief Returns a road segment by index
+ *
+ * This function returns a constant reference to the desired road segment
+ * object, which can not be modified by the user. If the index is not valid,
+ * this function will throw an exception.
+ *
+ * \param index is the 0 based index of the desired road segment
+ *
+ * \return constant reference to the desired road segment object.
+ */
const COpendriveRoadSegment& get_segment(unsigned int index) const;
+ /**
+ * \brief Returns the number of lane objects in the whole road
+ *
+ * \return This function returns the number of lanes present in whole
+ * road. The range of valid indexes goes from 0 to the value
+ * returned by this function -1.
+ */
unsigned int get_num_lanes(void) const;
+ /**
+ * \brief Returns a lane by index
+ *
+ * This function returns a constant reference to the desired lane
+ * object, which can not be modified by the user. If the index is not valid,
+ * this function will throw an exception.
+ *
+ * \param index is the 0 based index of the desired lane
+ *
+ * \return constant reference to the desired lane object.
+ */
const COpendriveLane &get_lane(unsigned int index) const;
+ /**
+ * \brief Returns the number of road node objects in the whole road
+ *
+ * \return This function returns the number of road nodes present in whole
+ * road. The range of valid indexes goes from 0 to the value
+ * returned by this function -1.
+ */
unsigned int get_num_nodes(void) const;
+ /**
+ * \brief Returns a road node by index
+ *
+ * This function returns a constant reference to the desired road node
+ * object, which can not be modified by the user. If the index is not valid,
+ * this function will throw an exception.
+ *
+ * \param index is the 0 based index of the desired road node
+ *
+ * \return constant reference to the desired road node object.
+ */
const COpendriveRoadNode& get_node(unsigned int index) const;
+ /**
+ * \brief overloaded index operator
+ *
+ * This operator is similar to the get_segment() function. It returns a
+ * constant reference to the desired road segment object, which can not
+ * be modified by the user. If the index is not valid,this function will
+ * throw an exception.
+ *
+ * \param index is the 0 based index of the desired road segment
+ *
+ * \return constant reference to the desired road segment object.
+ */
const COpendriveRoadSegment &operator[](std::size_t index);
+ /**
+ * \brief gets the closest node to a given point
+ *
+ * This functions searches all the road nodes for the one which is closest to
+ * a given position and returns it. The distance from the closest node to the
+ */
const COpendriveRoadNode &get_closest_node(TOpendriveWorldPose &pose,double &distance,double angle_tol=0.1) const;
unsigned int get_closest_node_index(TOpendriveWorldPose &pose,double &distance,double angle_tol=0.1) const;
const COpendriveLane &get_closest_lane(TOpendriveWorldPose &pose,double &distance,double angle_tol=0.1) const;