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
 
 /**
 \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
 
 Content:
 - \ref shapedet_general


@@ -26,12 +25,14 @@ Content:
 
 \section shapedet_general Introduction
 
 
 \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
 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