Document principal derived methods

include/laser/processor/processor_odom_icp.h

@@ -123,12 +123,44 @@ class ProcessorOdomIcp : public ProcessorTracker, public MotionProvider
     protected:
         void preProcess() override;
 
+        /** \brief Compute transform from origin to incoming.
+         * 
+         * The transform is the result of aligning the scans in origin and incoming.
+         * This alignement takes as prior the current transform from origin to last.
+         * 
+         * \return the number of features tracked. This is always zero since this processor is not tracking features.
+         */
         unsigned int processKnown() override;
+        /** \brief Compute transform from last to incoming.
+         * 
+         * The transform is the result of aligning the scans in last and incoming.
+         * This alignement takes as prior the identity transform.
+         * 
+         * \param _max_features number of features to extract. This is ignored since this processor is not extracting features.
+         * 
+         * \return the number of features extracted. This is always zero since this processor is not extracting features.
+         */
         unsigned int processNew(const int& _max_features) override;
 
         bool voteForKeyFrame() const override;
 
+        /** \brief advance pointers and update internal values
+         * 
+         * We do several things:
+         *   - Advance derived pointers
+         *   - Advance isometries
+         *   - Update extrinsic isometries in case they have changed
+         *   - Compute odometry
+         */
         void advanceDerived() override;
+        /** \brief advance pointers and update internal values
+         * 
+         * We do several things:
+         *   - Reset derived pointers
+         *   - Reset isometries
+         *   - Update extrinsic isometries in case they have changed
+         *   - Compute odometry
+         */
         void resetDerived() override;