From d5d998ea41a888cfa948be9b9bbbf00b4421d297 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Miguel=20=C3=81ngel=20Gonz=C3=A1lez=20Santamarta?=
 <mgons@unileon.es>
Date: Mon, 4 Nov 2024 10:40:53 +0100
Subject: [PATCH] fixing C++ comments

---
 .../include/yasmin_ros/action_state.hpp       | 45 ++++++++++---------
 .../include/yasmin_ros/basic_outcomes.hpp     |  2 +-
 .../include/yasmin_ros/monitor_state.hpp      |  1 +
 .../include/yasmin_ros/service_state.hpp      |  6 ++-
 yasmin_ros/include/yasmin_ros/yasmin_node.hpp |  7 +--
 .../yasmin_viewer/yasmin_viewer_pub.hpp       | 17 ++++---
 6 files changed, 44 insertions(+), 34 deletions(-)

diff --git a/yasmin_ros/include/yasmin_ros/action_state.hpp b/yasmin_ros/include/yasmin_ros/action_state.hpp
index 51ebb20..4e74e64 100644
--- a/yasmin_ros/include/yasmin_ros/action_state.hpp
+++ b/yasmin_ros/include/yasmin_ros/action_state.hpp
@@ -44,29 +44,30 @@ namespace yasmin_ros {
  * @tparam ActionT The type of the action this state will interface with.
  */
 template <typename ActionT> class ActionState : public yasmin::State {
-  using Goal = typename ActionT::Goal; ///< Alias for the action goal type.
-  using Result = typename ActionT::Result::SharedPtr; ///< Alias for the action
-                                                      ///< result type.
-  using Feedback =
-      typename ActionT::Feedback; ///< Alias for the action feedback type.
-
-  using SendGoalOptions = typename rclcpp_action::Client<
-      ActionT>::SendGoalOptions; ///< Options for sending goals.
-  using ActionClient = typename rclcpp_action::Client<
-      ActionT>::SharedPtr; ///< Shared pointer type for the action client.
-  using GoalHandle =
-      rclcpp_action::ClientGoalHandle<ActionT>; ///< Handle for the action goal.
-
-  using CreateGoalHandler = std::function<Goal(
-      std::shared_ptr<yasmin::blackboard::Blackboard>)>; ///< Function type for
-                                                         ///< creating a goal.
+  /// Alias for the action goal type.
+  using Goal = typename ActionT::Goal;
+  /// Alias for the action result type.
+  using Result = typename ActionT::Result::SharedPtr;
+
+  /// Alias for the action feedback type.
+  using Feedback = typename ActionT::Feedback;
+  /// Options for sending goals.
+  using SendGoalOptions =
+      typename rclcpp_action::Client<ActionT>::SendGoalOptions;
+  /// Shared pointer type for the action client.
+  using ActionClient = typename rclcpp_action::Client<ActionT>::SharedPtr;
+  /// Handle for the action goal.
+  using GoalHandle = rclcpp_action::ClientGoalHandle<ActionT>;
+  /// Function type for creating a goal.
+  using CreateGoalHandler =
+      std::function<Goal(std::shared_ptr<yasmin::blackboard::Blackboard>)>;
+  /// Function type for handling results.
   using ResultHandler = std::function<std::string(
-      std::shared_ptr<yasmin::blackboard::Blackboard>,
-      Result)>; ///< Function type for handling results.
-  using FeedbackHandler = std::function<void(
-      std::shared_ptr<yasmin::blackboard::Blackboard>,
-      std::shared_ptr<const Feedback>)>; ///< Function type for handling
-                                         ///< feedback.
+      std::shared_ptr<yasmin::blackboard::Blackboard>, Result)>;
+  /// Function type for handling feedback.
+  using FeedbackHandler =
+      std::function<void(std::shared_ptr<yasmin::blackboard::Blackboard>,
+                         std::shared_ptr<const Feedback>)>;
 
 public:
   /**
diff --git a/yasmin_ros/include/yasmin_ros/basic_outcomes.hpp b/yasmin_ros/include/yasmin_ros/basic_outcomes.hpp
index 5bbfb5b..dc91247 100644
--- a/yasmin_ros/include/yasmin_ros/basic_outcomes.hpp
+++ b/yasmin_ros/include/yasmin_ros/basic_outcomes.hpp
@@ -22,7 +22,7 @@ namespace yasmin_ros {
 
 /**
  * @namespace yasmin_ros::basic_outcomes
- * @brief Provides common outcome constants for ROS 2 actions.
+ * @brief Provides common outcome constants for ROS 2.
  *
  * The basic_outcomes namespace defines constants for common action outcomes
  * within the yasmin_ros framework. These constants represent the status of
diff --git a/yasmin_ros/include/yasmin_ros/monitor_state.hpp b/yasmin_ros/include/yasmin_ros/monitor_state.hpp
index 82a4b28..acf88fa 100644
--- a/yasmin_ros/include/yasmin_ros/monitor_state.hpp
+++ b/yasmin_ros/include/yasmin_ros/monitor_state.hpp
@@ -45,6 +45,7 @@ namespace yasmin_ros {
  */
 template <typename MsgT> class MonitorState : public yasmin::State {
 
+  /// Function type for handling messages from topic.
   using MonitorHandler = std::function<std::string(
       std::shared_ptr<yasmin::blackboard::Blackboard>, std::shared_ptr<MsgT>)>;
 
diff --git a/yasmin_ros/include/yasmin_ros/service_state.hpp b/yasmin_ros/include/yasmin_ros/service_state.hpp
index 23f29fa..c20f9cb 100644
--- a/yasmin_ros/include/yasmin_ros/service_state.hpp
+++ b/yasmin_ros/include/yasmin_ros/service_state.hpp
@@ -40,11 +40,15 @@ namespace yasmin_ros {
  * @tparam ServiceT The type of the ROS 2 service this state interacts with.
  */
 template <typename ServiceT> class ServiceState : public yasmin::State {
-
+  /// Alias for the service request type.
   using Request = typename ServiceT::Request::SharedPtr;
+  /// Alias for the service response type.
   using Response = typename ServiceT::Response::SharedPtr;
+
+  /// Function type for creating a request.
   using CreateRequestHandler =
       std::function<Request(std::shared_ptr<yasmin::blackboard::Blackboard>)>;
+  /// Function type for handling a response.
   using ResponseHandler = std::function<std::string(
       std::shared_ptr<yasmin::blackboard::Blackboard>, Response)>;
 
diff --git a/yasmin_ros/include/yasmin_ros/yasmin_node.hpp b/yasmin_ros/include/yasmin_ros/yasmin_node.hpp
index f7807b5..9ec17a6 100644
--- a/yasmin_ros/include/yasmin_ros/yasmin_node.hpp
+++ b/yasmin_ros/include/yasmin_ros/yasmin_node.hpp
@@ -77,9 +77,10 @@ class YasminNode : public rclcpp::Node {
   }
 
 private:
-  rclcpp::executors::MultiThreadedExecutor
-      executor; ///< Executor for managing multiple threads.
-  std::unique_ptr<std::thread> spin_thread; ///< Thread for spinning the node.
+  /// Executor for managing multiple threads.
+  rclcpp::executors::MultiThreadedExecutor executor;
+  /// Thread for spinning the node.
+  std::unique_ptr<std::thread> spin_thread;
 };
 
 } // namespace yasmin_ros
diff --git a/yasmin_viewer/include/yasmin_viewer/yasmin_viewer_pub.hpp b/yasmin_viewer/include/yasmin_viewer/yasmin_viewer_pub.hpp
index 3f79de4..7858f3c 100644
--- a/yasmin_viewer/include/yasmin_viewer/yasmin_viewer_pub.hpp
+++ b/yasmin_viewer/include/yasmin_viewer/yasmin_viewer_pub.hpp
@@ -89,14 +89,17 @@ class YasminViewerPub {
   void publish_data();
 
 private:
-  rclcpp::Node::SharedPtr node_; ///< Shared pointer to the ROS 2 node.
-  rclcpp::Publisher<yasmin_msgs::msg::StateMachine>::SharedPtr
-      publisher;                      ///< Publisher for StateMachine messages.
-  rclcpp::TimerBase::SharedPtr timer; ///< Timer for periodic publishing.
+  /// Shared pointer to the ROS 2 node.
+  rclcpp::Node::SharedPtr node_;
+  /// Publisher for StateMachine messages.
+  rclcpp::Publisher<yasmin_msgs::msg::StateMachine>::SharedPtr publisher;
+  /// Timer for periodic publishing.
+  rclcpp::TimerBase::SharedPtr timer;
 
-  std::string fsm_name; ///< Name of the finite state machine.
-  std::shared_ptr<yasmin::StateMachine>
-      fsm; ///< Shared pointer to the state machine.
+  /// Name of the finite state machine.
+  std::string fsm_name;
+  /// Shared pointer to the state machine.
+  std::shared_ptr<yasmin::StateMachine> fsm;
 };
 
 } // namespace yasmin_viewer