Initial doxygen documentation for the road class.

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;