From 619a3deb52310fe1249904fc813991788cc4eaba Mon Sep 17 00:00:00 2001 From: William Woodall Date: Tue, 12 Jun 2018 16:29:47 -0700 Subject: [PATCH] documentation fixups --- rcl/include/rcl/subscription.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h index 1442e58a9..4cc62bccf 100644 --- a/rcl/include/rcl/subscription.h +++ b/rcl/include/rcl/subscription.h @@ -256,12 +256,12 @@ rcl_take( void * ros_message, rmw_message_info_t * message_info); -/// Take a serialized raw message from a topic using a rcl subscription. +/// Take a serialized raw message from a topic using a rcl subscription. /** - * In contrast to `rcl_take`, this function return the incoming message in - * its binary raw representation. - * It is the job of the caller to ensure that the type associate with the subscription, - * match and can optionally be deserialized into its ROS message via the correct + * In contrast to `rcl_take`, this function stores the taken message in + * its raw binary representation. + * It is the job of the caller to ensure that the type associate with the subscription + * matches, and can optionally be deserialized into its ROS message via, the correct * type support. * If the `raw_message` parameter contains enough preallocated memory, the incoming * message can be taken without any additional memory allocation. @@ -269,7 +269,7 @@ rcl_take( * Passing a different type to rcl_take produces undefined behavior and cannot * be checked by this function and therefore no deliberate error will occur. * - * Apart from the contrast above, this function behaves like `rcl_take`. + * Apart from the differences above, this function behaves like `rcl_take`. * *
* Attribute | Adherence @@ -278,7 +278,7 @@ rcl_take( * Thread-Safe | No * Uses Atomics | No * Lock-Free | Yes - * [1] only if required when filling the message, avoided for fixed sizes + * [1] only if storage in the raw_message is insufficient * * \param[in] subscription the handle to the subscription from which to take * \param[inout] raw_message pointer to a (pre-allocated) raw message.