adding partial doxygen coverage for AMCL (#2253)

nav2_amcl/include/nav2_amcl/motion_model/motion_model.hpp

@@ -24,21 +24,61 @@
 namespace nav2_amcl
 {
 
+/**
+ * @class nav2_amcl::MotionModel
+ * @brief An abstract motion model class
+ */
 class MotionModel
 {
 public:
   virtual ~MotionModel() = default;
+
+  /**
+   * @brief Update on new odometry data
+   * @param pf The particle filter to update
+   * @param pose pose of robot in odometry update
+   * @param delta change in pose in odometry update
+   */
   virtual void odometryUpdate(pf_t * pf, const pf_vector_t & pose, const pf_vector_t & delta) = 0;
 
+  /**
+   * @brief An factory to create motion models
+   * @param type Type of motion model to create in factory
+   * @param alpha1 error parameters, see documentation
+   * @param alpha2 error parameters, see documentation
+   * @param alpha3 error parameters, see documentation
+   * @param alpha4 error parameters, see documentation
+   * @param alpha5 error parameters, see documentation
+   * @return MotionModel A pointer to the motion model it created
+   */
   static MotionModel * createMotionModel(
     std::string & type, double alpha1, double alpha2,
     double alpha3, double alpha4, double alpha5);
 };
 
+/**
+ * @class nav2_amcl::OmniMotionModel
+ * @brief An Omnidirectional motion model class
+ */
 class OmniMotionModel : public MotionModel
 {
 public:
+  /**
+   * @brief An omni constructor
+   * @param alpha1 error parameters, see documentation
+   * @param alpha2 error parameters, see documentation
+   * @param alpha3 error parameters, see documentation
+   * @param alpha4 error parameters, see documentation
+   * @param alpha5 error parameters, see documentation
+   */
   OmniMotionModel(double alpha1, double alpha2, double alpha3, double alpha4, double alpha5);
+
+  /**
+   * @brief Update on new odometry data
+   * @param pf The particle filter to update
+   * @param pose pose of robot in odometry update
+   * @param delta change in pose in odometry update
+   */
   void odometryUpdate(pf_t * pf, const pf_vector_t & pose, const pf_vector_t & delta);
 
 private:
@@ -49,10 +89,28 @@ class OmniMotionModel : public MotionModel
   double alpha5_;
 };
 
+/**
+ * @class nav2_amcl::DifferentialMotionModel
+ * @brief An differential drive motion model class
+ */
 class DifferentialMotionModel : public MotionModel
 {
 public:
+  /**
+   * @brief A diff drive constructor
+   * @param alpha1 error parameters, see documentation
+   * @param alpha2 error parameters, see documentation
+   * @param alpha3 error parameters, see documentation
+   * @param alpha4 error parameters, see documentation
+   */
   DifferentialMotionModel(double alpha1, double alpha2, double alpha3, double alpha4);
+
+  /**
+   * @brief Update on new odometry data
+   * @param pf The particle filter to update
+   * @param pose pose of robot in odometry update
+   * @param delta change in pose in odometry update
+   */
   void odometryUpdate(pf_t * pf, const pf_vector_t & pose, const pf_vector_t & delta);
 
 private:

nav2_amcl/include/nav2_amcl/sensors/laser/laser.hpp

@@ -29,12 +29,32 @@ namespace nav2_amcl
 // Forward declarations
 class LaserData;
 
+/**
+ * @class nav2_amcl::Laser
+ * @brief An abstract laser model class
+ */
 class Laser
 {
 public:
+  /**
+   * @brief A Laser constructor
+   * @param max_beams number of beams to use
+   * @param map Map pointer to use
+   */
   Laser(size_t max_beams, map_t * map);
   virtual ~Laser();
+
+  /**
+   * @brief update based on new sensor data
+   * @param data Laser data to update using
+   * @return bool If successful
+   */
   virtual bool sensorUpdate(pf_t * pf, LaserData * data) = 0;
+
+  /**
+   * @brief update laser pose
+   * @param laser_pose Laser pose
+   */
   void SetLaserPose(pf_vector_t & laser_pose);
 
 protected: