shapedet: Documentation overhaul

diff --git a/src/hokuyo/shape-detect/shape_detect.h b/src/hokuyo/shape-detect/shape_detect.h
index 27cec8e39e83fda7a8de26845a61ff7c9104ace0..0a7a7cc3394cef01ad5284a7181875f48ca713be 100644 (file)
--- a/src/hokuyo/shape-detect/shape_detect.h
+++ b/src/hokuyo/shape-detect/shape_detect.h
@@ -14,9 +14,8 @@
 /**
 \defgroup shapedet Shape detection
 
-Library Shape detect is used for detection line segments
-in measured data by laser scan (defaut constructor
-is changed for Hokuyo).
+Library @a shape_detect is used for detection of line segments in data
+measured by a laser scanner.
 
 Content:
 - \ref shapedet_general
@@ -26,12 +25,14 @@ Content:
 
 \section shapedet_general Introduction
 
-The input is created by array laser_scan (type unsigned short) which contains
-data expressed in polar coordinates. The first step is data conversion from 
-polar coordinates to vector whose points are expressed in cartesian coordinates.
-The section includes filtering of error scanned data which are lower level then 20.
+The input of the algorithm is represented by array laser_scan (type
+unsigned short) which contains data expressed in polar coordinates.
+The first step is data conversion from polar coordinates to vector
+whose points are expressed in cartesian coordinates. The section
+includes filtering of errors in the scanned data which are represented
+by values lower then 20.
 
-In the next is divided pointvector in dependence on parametr max_distance_point.
+In the next is divided pointvector in dependence on parameter @a max_distance_point.
 Some line segment is searched by recursion in the individual parts of pointvector
 by perpendicular line regression.
 The line segment is detected or set is divided to achievement of parametersize