From ea00ab2c89e441296b9ae8718cb0b714ccfeda6f Mon Sep 17 00:00:00 2001
From: bernatx <bernatx@gmail.com>
Date: Mon, 1 Jul 2019 16:46:34 +0200
Subject: [PATCH] Change some comments

---
 LibCarla/source/carla/nav/Navigation.cpp |  5 ++--
 LibCarla/source/carla/nav/Navigation.h   | 36 +++++++++++++-----------
 2 files changed, 23 insertions(+), 18 deletions(-)

diff --git a/LibCarla/source/carla/nav/Navigation.cpp b/LibCarla/source/carla/nav/Navigation.cpp
index e55113821..1bc44b824 100644
--- a/LibCarla/source/carla/nav/Navigation.cpp
+++ b/LibCarla/source/carla/nav/Navigation.cpp
@@ -88,7 +88,7 @@ namespace nav {
   }
 
   // load navigation data from memory
-  bool Navigation::Load( std::vector<uint8_t> content) {
+  bool Navigation::Load(std::vector<uint8_t> content) {
     const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'MSET';
     const int NAVMESHSET_VERSION = 1;
 #pragma pack(push, 1)
@@ -357,7 +357,8 @@ namespace nav {
     params.obstacleAvoidanceType = 3;
     params.separationWeight = 0.5f;
 
-    // from Unreal coordinates (subtract half height to move pivot from center (unreal) to bottom (recast))
+    // from Unreal coordinates (subtract half height to move pivot from center
+    // (unreal) to bottom (recast))
     float PointFrom[3] = { from.x, from.z - (AGENT_HEIGHT / 2.0f), from.y };
     // add walker
     int index = _crowd->addAgent(PointFrom, &params);
diff --git a/LibCarla/source/carla/nav/Navigation.h b/LibCarla/source/carla/nav/Navigation.h
index b2ffc93b2..695b42b3d 100644
--- a/LibCarla/source/carla/nav/Navigation.h
+++ b/LibCarla/source/carla/nav/Navigation.h
@@ -21,6 +21,10 @@
 namespace carla {
 namespace nav {
 
+  /// Manage the pedestrians navigation, using the Recast & Detour library for low level calculations.
+  ///
+  /// This class gets the binary content of the map from the server, which is required for the path finding.
+  /// Then this class can add or remove pedestrians, and also set target points to walk for each one.
   class Navigation : private NonCopyable {
 
   public:
@@ -28,32 +32,32 @@ namespace nav {
     Navigation() = default;
     ~Navigation();
 
-    // load navigation data
+    /// load navigation data
     bool Load(const std::string &filename);
-    // load navigation data from memory
+    /// load navigation data from memory
     bool Load(std::vector<uint8_t> content);
-    // return the path points to go from one position to another
+    /// return the path points to go from one position to another
     bool GetPath(carla::geom::Location from, carla::geom::Location to, dtQueryFilter * filter,
     std::vector<carla::geom::Location> &path);
 
-    // create the crowd object
+    /// create the crowd object
     void CreateCrowd(void);
-    // create a new walker
+    /// create a new walker
     bool AddWalker(ActorId id, carla::geom::Location from);
-    // remove a walker
+    /// remove a walker
     bool RemoveWalker(ActorId id);
-    // set new max speed
+    /// set new max speed
     bool SetWalkerMaxSpeed(ActorId id, float max_speed);
-    // set a new target point to go
+    /// set a new target point to go
     bool SetWalkerTarget(ActorId id, carla::geom::Location to);
     bool SetWalkerTargetIndex(int index, carla::geom::Location to, bool use_lock = true);
-    // get the walker current transform
+    /// get the walker current transform
     bool GetWalkerTransform(ActorId id, carla::geom::Transform &trans);
-    // get the walker current transform
+    /// get the walker current transform
     float GetWalkerSpeed(ActorId id);
-    // update all walkers in crowd
+    /// update all walkers in crowd
     void UpdateCrowd(const client::detail::EpisodeState &state);
-    // get a random location for navigation
+    /// get a random location for navigation
     bool GetRandomLocation(carla::geom::Location &location, float maxHeight = -1.0f,
     dtQueryFilter * filter = nullptr, bool use_lock = true);
 
@@ -62,14 +66,14 @@ namespace nav {
     bool _ready { false };
     std::vector<uint8_t> _binaryMesh;
     double _delta_seconds;
-    // meshes
+    /// meshes
     dtNavMesh *_navMesh { nullptr };
     dtNavMeshQuery *_navQuery { nullptr };
-    // crowd
+    /// crowd
     dtCrowd *_crowd { nullptr };
-    // mapping Id
+    /// mapping Id
     std::unordered_map<ActorId, int> _mappedId;
-    // Store walkers yaw angle from previous tick
+    /// Store walkers yaw angle from previous tick
     std::unordered_map<ActorId, float> _yaw_walkers;
 
     std::mutex _mutex;