update comments for all classes

code/PoseEdge.m

@@ -1,24 +1,23 @@
-%%%
-%> @file PoseNode.m
-%> @brief A class for edge in a pose graph
-%%%
 classdef PoseEdge < handle
     %POSEEDGE A class for edge in a pose graph
 
     properties (SetAccess = private)
-        id_from  %> This is the viewing frame of this edge
-        id_to    %> This is the pose being observed from the viewing frame
-        mean     %> Predicted virtual measurement
-        infm     %> Information matrix of this edge
-    end  % properties
+        id_from  % This is the viewing frame of this edge
+        id_to    % This is the pose being observed from the viewing frame
+        mean     % Predicted virtual measurement
+        infm     % Information matrix of this edge
+    end  % properties set private
 
     methods
+
         function obj = PoseEdge(id_from, id_to, mean, infm)
+            % Consturctor of PoseEdge
             obj.id_from = id_from;
             obj.id_to = id_to;
             obj.mean = mean(:);
             obj.infm = infm;
         end
-    end  % methods
+
+    end  % methods public
 
 end  % classdef

code/PoseGraph.m

@@ -1,36 +1,30 @@
-%%%
-%> @file  PoseGraph.m
-%> @brief A class for doing pose graph optimization
-%%%
 classdef PoseGraph < handle
     %POSEGRAPH A class for doing pose graph optimization
 
     properties (SetAccess = private)
-        node  %> Pose nodes in graph
-        edge  %> Edge in graph
-        H     %> Information matrix
-        b     %> Information vector
-    end
+        node  % Pose nodes in graph
+        edge  % Edge in graph
+        H     % Information matrix
+        b     % Information vector
+    end  % properties set private
 
     properties (Dependent = true)
-        n_node  %> Number of nodes in graph
-        n_edge  %> Number of edges in graph
-        pose    %> Poses of all nodes
-    end
+        n_node  % Number of nodes in graph
+        n_edge  % Number of edges in graph
+        pose    % Poses of all nodes
+    end  % properties dependent
 
     methods
-        %%%
-        %> @brief Class constructor
-        %> Instantiates an object of GraphSlam
-        %>
-        %> @return instance of the GraphSlam class
-        %%%
+
         function obj = PoseGraph()
+            % Constructor of PoseGraph
             obj.node = PoseNode.empty;
             obj.edge = PoseEdge.empty;
         end
 
         function readGraph(obj, vfile, efile)
+            % Reads graph from vertex and edge file
+
             % Try opening vertex file
             vfid = fopen(vfile);
             if (vfid < 0)
@@ -75,19 +69,13 @@ function readGraph(obj, vfile, efile)
             fprintf('Edges loaded from: %s\n', vfile);
         end
 
-        %%%
-        %> @brief Plot all nodes and edges
-        %%%
         function plot(obj)
+            % Plots pose graph
             obj.node.plot();
         end
 
-        %%%
-        %> @brief pose graph optimization
-        %> @param n_iter Number of iteration to optimizae
-        %> @param vis True to turn visualization on
-        %%%
         function optimize(obj, n_iter, vis)
+            % Pose graph optimization
             if nargin < 3, vis = false; end
             if nargin < 2, n_iter = 1; end
 
@@ -104,10 +92,8 @@ function optimize(obj, n_iter, vis)
             end
         end
 
-        %%%
-        %> @brief one iteration of linearization and solving
-        %%%
         function iterate(obj)
+            % One iteration of pose graph optimization
             fprintf('Allocating Workspace.\n');
             % Create new H and b matrices each time
             obj.H = zeros(obj.n_node*3);   % 3n x 3n square matrix
@@ -119,11 +105,9 @@ function iterate(obj)
             fprintf('Solving.\n');
             obj.solve();
         end
-
-        %%%
-        %> @brief Linearize error functions and formulate a linear system
-        %%%
+
         function linearize(obj)
+            % Linearize error functions and formulate a linear system
             for i_edge = 1:obj.n_edge
                 ei = obj.edge(i_edge);
                 % Get edge information
@@ -171,11 +155,9 @@ function linearize(obj)
                 obj.b(j_ind) = obj.b(j_ind) + b_j;
             end
         end
-
-        %%%
-        %> @brief solve the linear system and update all pose node
-        %%%
+
         function solve(obj)
+            % Solves the linear system and update all pose node
             fprintf('Pose: %d, Edge: %d\n', obj.n_node, obj.n_edge);
             % The system (H b) is obtained only from relative constraints.
             % H is not full rank.
@@ -195,7 +177,6 @@ function solve(obj)
             end
         end
 
-        % Get methods
         function n_node = get.n_node(obj)
             n_node = numel(obj.node);
         end
@@ -208,7 +189,7 @@ function solve(obj)
             pose = [obj.node.pose];
         end
 
-    end  % methods
+    end  % methods public
 
 end  % classdef
 

code/PoseNode.m

@@ -1,46 +1,33 @@
-%%%
-%> @file PoseNode.m
-%> @brief A class for node in a pose graph
-%%%
 classdef PoseNode < handle
-    %POSENODE Summary of this class goes here
-    %   Detailed explanation goes here
+    %POSENODE A class for pose node
 
-    properties
-        id    %> Id of this pose node
-        pose  %> Pose of this pose node
-    end
+    properties (Access = public)
+        id    % Id of this pose node
+        pose  % Pose of this pose node
+    end  % properties public
 
-    properties (Dependent =  true)
-        x    %> X coordinate
-        y    %> Y coordinate
-        yaw  %> Yaw angle
-        rt   %> Transformation local to global
-    end
+    properties (Dependent = true)
+        x    % X coordinate
+        y    % Y coordinate
+        yaw  % Yaw angle
+        rt   % Transformation local to global
+    end  % properties dependent
 
     methods
-        %%%
-        %> @brief Class constructor
-        %> Instantiates an object of PoseNode
-        %>
-        %> @param pose a robot pose in 2d [x; y; yaw]
-        %> @return instance of the PoseNode class
-        %%%
+
         function obj = PoseNode(id, pose)
+            % Constructor of PoseNode
             obj.id   = id;
             obj.pose = pose(:);
         end
 
-        %%%
-        %> @brief Plot one or more pose node
-        %%%
         function plot(obj)
+            % Plot all pose nodes position
             x = [obj.x];
             y = [obj.y];
             plot(x, y, 'b');
         end
 
-        % Get methods
         function x = get.x(obj)
             x = obj.pose(1);
         end
@@ -59,6 +46,6 @@ function plot(obj)
             rt = [R [obj.x; obj.y]; 0 0 1];
         end
 
-    end  % methods
+    end  % methods public
 
 end  % classdef

code/t2v.m

@@ -1,11 +1,6 @@
-%%%
-%> @brief  computes the pose vector v from an homogeneous transformation A
-%> param   A homogeneous transformation
-%> return  v pose vector
-%> @author Giorgio Grisetti
-%%%
 function v = t2v(A)
 % T2V homogeneous transformation to vector
 v(1:2,1) = A(1:2,3);
 v(3,1) = atan2(A(2,1), A(1,1));
+
 end

code/v2t.m

@@ -1,14 +1,9 @@
-%%%
-%> @brief  computes the homogeneous transformation A of the pose vector v
-%> @param  v pose vector
-%> @return A homogeneous transformation
-%> @author Giorgio Grisetti
-%%%
 function A = v2t(v)
 % V2T vector to homogeneous transformation
 c = cos(v(3));
 s = sin(v(3));
 A = [c, -s, v(1);
      s,  c, v(2);
      0   0  1];
+
 end