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fix a few outdated comments in smac planners #3978

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merged 1 commit into from
Nov 21, 2023
Merged

fix a few outdated comments in smac planners #3978

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13 changes: 5 additions & 8 deletions nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,8 +72,7 @@ class AStarAlgorithm
typedef std::priority_queue<NodeElement, std::vector<NodeElement>, NodeComparator> NodeQueue;

/**
* @brief A constructor for nav2_smac_planner::PlannerServer
* @param neighborhood The type of neighborhood to use for search (4 or 8 connected)
* @brief A constructor for nav2_smac_planner::AStarAlgorithm
*/
explicit AStarAlgorithm(const MotionModel & motion_model, const SearchInfo & search_info);

Expand Down Expand Up @@ -196,16 +195,15 @@ class AStarAlgorithm
inline NodePtr getNextNode();

/**
* @brief Get pointer to next goal in open set
* @brief Add a node to the open set
* @param cost The cost to sort into the open set of the node
* @param node Node pointer reference to add to open set
*/
inline void addNode(const float & cost, NodePtr & node);

/**
* @brief Adds node to graph
* @param cost The cost to sort into the open set of the node
* @param node Node pointer reference to add to open set
* @param index Node index to add
*/
inline NodePtr addToGraph(const unsigned int & index);

Expand All @@ -218,9 +216,8 @@ class AStarAlgorithm

/**
* @brief Get cost of heuristic of node
* @param node Node index current
* @param node Node index of new
* @return Heuristic cost between the nodes
* @param node Node pointer to get heuristic for
* @return Heuristic cost for node
*/
inline float getHeuristicCost(const NodePtr & node);

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1 change: 0 additions & 1 deletion nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp
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Expand Up @@ -47,7 +47,6 @@ class NodeBasic
public:
/**
* @brief A constructor for nav2_smac_planner::NodeBasic
* @param cost_in The costmap cost at this node
* @param index The index of this node for self-reference
*/
explicit NodeBasic(const unsigned int index)
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2 changes: 0 additions & 2 deletions nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
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Expand Up @@ -58,8 +58,6 @@ struct LatticeMotionTable
/**
* @brief Initializing state lattice planner's motion model
* @param size_x_in Size of costmap in X
* @param size_y_in Size of costmap in Y
* @param angle_quantization_in Size of costmap in bin sizes
* @param search_info Parameters for searching
*/
void initMotionModel(
Expand Down