From e3fd1587792c2d21b6b12ee6fa5a8ea5d4dedeb0 Mon Sep 17 00:00:00 2001 From: Michal Sojka Date: Thu, 17 Mar 2011 08:02:51 +0100 Subject: [PATCH] shapedet: Documentation overhaul --- src/hokuyo/shape-detect/shape_detect.h | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/hokuyo/shape-detect/shape_detect.h b/src/hokuyo/shape-detect/shape_detect.h index 27cec8e3..0a7a7cc3 100644 --- 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 -- 2.39.2