Draft: Resolve "Implementation of new nodes creation"

Closes #454, #318, #364, #449, #381, #376, #208, #485

include/core/capture/capture_base.h

@@ -39,9 +39,9 @@ namespace wolf
 // class CaptureBase
 class CaptureBase : public NodeStateBlocks
 {
-    friend FeatureBase;
-    friend FactorBase;
-    friend FrameBase;
+    friend class FeatureBase;
+    friend class FactorBase;
+    friend class FrameBase;
 
   private:
     FrameBaseWPtr      frame_ptr_;
@@ -79,20 +79,39 @@ class CaptureBase : public NodeStateBlocks
                 const PriorComposite&  _state_priors  = {});
 
     ~CaptureBase() override = default;
+
+    /** \brief Remove the capture
+     *
+     * \param viral_remove_parent_without_children If true, removes the parent if it has no other children.
+     */
     void remove(bool viral_remove_parent_without_children = false) override;
+
+    /** \brief Check if the capture has any children
+     *
+     * \return true if the capture has children, false otherwise
+     */
     bool hasChildren() const override;
 
     /** \brief Emplace a FactorBlockDifference with zero difference between the state _key of this capture and
      * _capture_origin
+     *
+     * \param _capture_origin The origin capture to add the factor drift.
+     * \param _key The key of the state to be factored.
+     * \param _apply_loss_function Whether to apply a loss function to the factor.
      */
     virtual FactorBasePtr emplaceDriftFactor(CaptureBasePtr _capture_origin, char _key, bool _apply_loss_function);
 
-    // Type
-    virtual bool isMotion() const
-    {
-        return false;
-    }
+    /**
+     * \brief Is a motion if there is motion detected.
+     *
+     * \return true if the capture is of type motion, false otherwise.
+     */
+    virtual bool isMotion() const;
 
+    /** \brief Process the capture
+     *
+     * \return true if the process is successful, false otherwise
+     */
     bool process();
 
     unsigned int id() const override;
@@ -134,13 +153,40 @@ class CaptureBase : public NodeStateBlocks
     void fix() override;
     void unfix() override;
 
-    void move(FrameBasePtr);
-    void link(FrameBasePtr);
+    /** \brief Move the capture to a new frame
+     *
+     * \param _frm_ptr Pointer to the new frame.
+     */
+    void move(FrameBasePtr _frm_ptr);
+
+    /** \brief Link the capture to a frame
+     *
+     * \param _frm_ptr Pointer to the frame.
+     */
+    void link(FrameBasePtr _frm_ptr);
+
+    /** \brief Unlink the capture from its current frame
+     */
     void unlink();
 
+    /** \brief Emplace a new capture of type classType
+     *
+     * \param _frm_ptr Pointer to the frame to link the new capture to.
+     * \param all Variadic template arguments to forward to the constructor of classType.
+     * \return A shared pointer to the newly created capture.
+     */
     template <typename classType, typename... T>
     static std::shared_ptr<classType> emplace(FrameBasePtr _frm_ptr, T&&... all);
 
+    /** \brief Print the header information of the capture
+     *
+     * \param depth The depth of the header.
+     * \param factored_by Whether to include factors in the print.
+     * \param metric Whether to print metric information.
+     * \param state_blocks Whether to print state blocks information.
+     * \param stream The output stream to print to.
+     * \param _tabs The tabs to use for indentation.
+     */
     virtual void printHeader(int           depth,
                              bool          factored_by,
                              bool          metric,
@@ -148,6 +194,15 @@ class CaptureBase : public NodeStateBlocks
                              std::ostream& stream,
                              std::string   _tabs = "") const;
 
+    /** \brief Print the capture details
+     *
+     * \param depth The depth of the print.
+     * \param factored_by Whether to include factors in the print.
+     * \param metric Whether to include metric information.
+     * \param state_blocks Whether to include state blocks.
+     * \param stream The output stream to print to.
+     * \param _tabs The tabs to use for indentation.
+     */
     void print(int           depth,
                bool          factored_by,
                bool          metric,
@@ -155,22 +210,32 @@ class CaptureBase : public NodeStateBlocks
                std::ostream& stream = std::cout,
                std::string   _tabs  = "") const;
 
+    /** \brief Perform a local check on the capture
+     *
+     * \param _verbose Whether to print verbose output.
+     * \param _stream The output stream to print to.
+     * \param _tabs The tabs to use for indentation.
+     * \return A CheckLog object containing the results of the check.
+     */
     virtual CheckLog localCheck(bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
-    bool             check(CheckLog& _log, bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
+
+    /** \brief Check the capture
+     *
+     * \param _log The log to store check results.
+     * \param _verbose Whether to enable verbose output.
+     * \param _stream The output stream to print to.
+     * \param _tabs The tabs to use for indentation.
+     * \return true if the check is successful, false otherwise
+     */
+    bool check(CheckLog& _log, bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
 
   private:
     FeatureBasePtr addFeature(FeatureBasePtr _ft_ptr);
     void           removeFeature(FeatureBasePtr _ft_ptr);
 
   public:
-    CaptureBasePtr shared_from_this_capture()
-    {
-        return std::static_pointer_cast<CaptureBase>(shared_from_this());
-    };
-    CaptureBaseConstPtr shared_from_this_capture() const
-    {
-        return std::static_pointer_cast<const CaptureBase>(shared_from_this());
-    };
+    CaptureBasePtr shared_from_this_capture();
+    CaptureBaseConstPtr shared_from_this_capture() const;
 };
 
 }  // namespace wolf
@@ -182,6 +247,12 @@ class CaptureBase : public NodeStateBlocks
 
 namespace wolf
 {
+
+inline bool CaptureBase::isMotion() const
+{
+    return false;
+}
+
 template <typename classType, typename... T>
 std::shared_ptr<classType> CaptureBase::emplace(FrameBasePtr _frm_ptr, T&&... all)
 {
@@ -289,4 +360,14 @@ inline void CaptureBase::setTimeStampToNow()
     time_stamp_.setToNow();
 }
 
+inline CaptureBasePtr CaptureBase::shared_from_this_capture()
+{
+    return std::static_pointer_cast<CaptureBase>(shared_from_this());
+}
+
+inline CaptureBaseConstPtr CaptureBase::shared_from_this_capture() const
+{
+    return std::static_pointer_cast<const CaptureBase>(shared_from_this());
+}
+
 }  // namespace wolf