update doxygen

Author: estherag

easynav_pointcloud_maps_builder/include/easynav_pointcloud_maps_builder/PointcloudMapsBuilderNode.hpp

@@ -1,3 +1,25 @@
+// Copyright 2025 Intelligent Robotics Lab
+//
+// This file is part of the project Easy Navigation (EasyNav in sh0rt)
+// licensed under the GNU General Public License v3.0.
+// See <http://www.gnu.org/licenses/> for details.
+//
+// Easy Navigation program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+/// \file
+/// \brief Definition of the PointcloudMapsBuilderNode class.
+
 #ifndef EASYNAV_OUTDOOR_MAPS_BUILDER__POINTCLOUDMAPSBUILDERNODE_HPP_
 #define EASYNAV_OUTDOOR_MAPS_BUILDER__POINTCLOUDMAPSBUILDERNODE_HPP_
 
@@ -13,12 +35,11 @@ namespace easynav
 
 /**
  * @class PointcloudMapsBuilderNode
- * @brief Lifecycle node that subscribes to point cloud sensor data and manages map building.
+ * @brief Lifecycle node that subscribes to point cloud sensor data and manages point cloud map building.
  *
- * This node handles perception data (point clouds) using multiple MapsBuilder instances
- * to generate outdoor maps. It supports ROS2 lifecycle management with clean startup,
- * activation, deactivation, and cleanup phases. The node also publishes processed maps
- * (e.g., filtered point clouds) for downstream consumption.
+ * This node processes perception data (point clouds) to build and update point cloud maps.
+ * It leverages ROS 2 lifecycle for clean startup, activation, deactivation, and cleanup phases.
+ * The node publishes processed (filtered or downsampled) point cloud maps for downstream use.
  */
 class PointcloudMapsBuilderNode : public rclcpp_lifecycle::LifecycleNode
 {
@@ -29,7 +50,7 @@ class PointcloudMapsBuilderNode : public rclcpp_lifecycle::LifecycleNode
 
   /**
    * @brief Constructor.
-   * @param options Options for node initialization.
+   * @param options Node initialization options.
    */
   explicit PointcloudMapsBuilderNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
@@ -67,30 +88,30 @@ class PointcloudMapsBuilderNode : public rclcpp_lifecycle::LifecycleNode
   CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state) override;
 
   /**
-   * @brief Perform a processing cycle on the perception data and update maps.
+   * @brief Perform a processing cycle on perception data and update the point cloud map.
    *
-   * This method should be called periodically (e.g., in a timer or main loop) to process
-   * incoming sensor data, update the internal map representations, and publish outputs.
+   * This should be called periodically (e.g., in a timer or main loop) to process incoming sensor data,
+   * update internal map representations, and publish outputs.
    */
   void cycle();
 
 private:
-  /// Name of the sensor topic to subscribe to (e.g., point clouds).
+  /// Sensor topic name to subscribe to point clouds.
   std::string sensor_topic_;
 
-  /// Collection of perception data managed by this node.
+  /// Perception data container.
   Perceptions perceptions_;
 
-  /// Callback group for concurrency management of subscriptions and timers.
+  /// Callback group for subscription and timers.
   rclcpp::CallbackGroup::SharedPtr cbg_;
 
-  /// Downsampling resolution applied to point cloud data.
+  /// Downsampling resolution for point clouds.
   double downsample_resolution_;
 
-  /// Default frame ID used for perception data and published messages.
+  /// Default frame ID for perception and publishing.
   std::string perception_default_frame_;
 
-  /// Publisher for processed (e.g., filtered or downsampled) point cloud map data.
+  /// Publisher for processed point cloud map.
   rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
 };