Add license info and documentation. Restructure

Author: Saurav Agarwal

cppsrc/core/include/CoverageControl/algorithms/centralized_cvt.h

@@ -1,23 +1,22 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * The coverage control algorithm uses centralized Centroidal Voronoi Tessellation (CVT) or Lloyd's algorithm on accumulated local map of individual robots, i.e., a robot has knowledge only about the regions it has visited.
- * Communication radius is not considered.
- * The algorithm is online---it takes localized actions based on the current robot positions.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file centralized_cvt.h
+ * \brief Contains the class CentralizedCVT
+ */
+
 #ifndef COVERAGECONTROL_ALGORITHMS_CENTRALIZED_CVT_H_
 #define COVERAGECONTROL_ALGORITHMS_CENTRALIZED_CVT_H_
 

cppsrc/core/include/CoverageControl/algorithms/clairvyont_cvt.h

@@ -1,23 +1,22 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * The coverage control algorithm uses Centroidal Voronoi Tessellation (CVT) or Lloyd's algorithm on global world IDF map, i.e., it has knowledge of the entire map.
- * Communication is not considered in this algorithm, i.e., all robots are assumed to be able to communicate with each other.
- * However, the algorithm is online---it takes localized actions based on the current robot positions.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file clairvyont_cvt.h
+ * \brief Clairvoyant CVT algorithm
+ */
+
 #ifndef COVERAGECONTROL_ALGORITHMS_CLAIRVOYANT_CVT_H_
 #define COVERAGECONTROL_ALGORITHMS_CLAIRVOYANT_CVT_H_
 

cppsrc/core/include/CoverageControl/algorithms/decentralized_cvt.h

@@ -1,24 +1,23 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * The coverage control algorithm uses Centroidal Voronoi Tessellation (CVT)  or Lloyd's algorithm on accumulated local map of individual robots, i.e., a robot has knowledge only about the regions it has visited.
- * Communication limitations are considered in the computation of voronoi.
- * Each robot computes the voronoi based on its local map and the positions of other robots within its communication range.
- * The algorithm is online---it takes localized actions based on the current robot positions.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file decentralized_cvt.h
+ * \brief Contains the DecentralizedCVT class.
+ */
+
+
 #ifndef COVERAGECONTROL_ALGORITHMS_DECENTRALIZED_CVT_H_
 #define COVERAGECONTROL_ALGORITHMS_DECENTRALIZED_CVT_H_
 

cppsrc/core/include/CoverageControl/algorithms/near_optimal_cvt.h

@@ -1,24 +1,28 @@
-/*!
+/*
  * This file is part of the CoverageControl library
- * Near-optimal Centroidal Voronoi Tessellation (CVT) algorithms.
- * The algorithm has knowledge of the entire map in a centralized manner.
- * It spawns random sites and iteratively moves them to the centroid of the Voronoi cell, until convergence.
- * Hungarian algorithm is used to assign the robots to the sites.
- * Out of the multiple tries, the best Voronoi is selected based on the objective function.
  *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file near_optimal_cvt.h
+ * \brief Near Optimal Centroidal Voronoi Tessellation (CVT) algorithm
+ * Near-optimal Centroidal Voronoi Tessellation (CVT) algorithms.
+ * The algorithm has knowledge of the entire map in a centralized manner.
+ * It spawns random sites and iteratively moves them to the centroid of the Voronoi cell, until convergence.
+ * Hungarian algorithm is used to assign the robots to the sites.
+ * Out of the multiple tries, the best Voronoi is selected based on the objective function.
+ */
+
+
 #ifndef COVERAGECONTROL_ALGORITHMS_NEAR_OPTIMAL_CVT_H_
 #define COVERAGECONTROL_ALGORITHMS_NEAR_OPTIMAL_CVT_H_
 

cppsrc/core/include/CoverageControl/algorithms/oracle_bang_explore_exploit.h

@@ -1,22 +1,24 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * First trial of oracle with exploration and exploitation.
- * The oracle uses complete information about the environment.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file oracle_bang_explore_exploit.h
+ * \brief First trial of oracle with exploration and exploitation.
+ * The oracle uses complete information about the environment.
+ */
+
+
 #ifndef COVERAGECONTROL_ALGORITHMS_ORACLE_BANG_EXPLORE_EXPLOIT_H_
 #define COVERAGECONTROL_ALGORITHMS_ORACLE_BANG_EXPLORE_EXPLOIT_H_
 

cppsrc/core/include/CoverageControl/algorithms/oracle_explore_exploit.h

@@ -1,22 +1,24 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * Old trial of exploration and exploitation
- * Uses system map for exploration as well.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file oracle_explore_exploit.h
+ * \brief Old trial of exploration and exploitation
+ * Uses system map for exploration as well.
+ */
+
+
 #ifndef COVERAGECONTROL_ALGORITHMS_ORACLE_EXPLORE_EXPLOIT_H_
 #define COVERAGECONTROL_ALGORITHMS_ORACLE_EXPLORE_EXPLOIT_H_
 

cppsrc/core/include/CoverageControl/algorithms/oracle_global_offline.h

@@ -1,29 +1,26 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * Global offline oracle: has complete information about the environment.
- * Use full communication between robots.
- * Tries multiple random sites for initial locations.
- * Uses Hungarian algorithm to assign robots to goal positions.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
-/**
+
+/*!
+ * \file oracle_global_offline.h
+ * \brief OracleGlobalOffline class
  * Global offline oracle: has complete information about the environment.
  * Use full communication between robots.
  * Tries multiple random sites for initial locations.
  * Uses Hungarian algorithm to assign robots to goal positions.
- **/
+ */
+
 
 #ifndef COVERAGECONTROL_ORACLE_GLOBAL_OFFLINE_H_
 #define COVERAGECONTROL_ORACLE_GLOBAL_OFFLINE_H_

cppsrc/core/include/CoverageControl/algorithms/simul_explore_exploit.h

@@ -1,27 +1,25 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * Uses frontier-based exploration with bias towards IDF.
- * Robots switch between exploration and exploitation modes.
- * Exploitation is done locally in a decentralized manner while respecting communation constraints.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
-/**
+
+/*!
+ * \file simul_explore_exploit.h
+ * \brief Simultaneous exploration and exploitation algorithm
  * Uses frontier-based exploration with bias towards IDF.
  * Robots switch between exploration and exploitation modes.
  * Exploitation is done locally in a decentralized manner while respecting communation constraints.
- **/
+ */
+
 
 #ifndef COVERAGECONTROL_ALGORITHMS_SIMUL_EXPLORE_EXPLOIT_H_
 #define COVERAGECONTROL_ALGORITHMS_SIMUL_EXPLORE_EXPLOIT_H_

cppsrc/core/include/CoverageControl/bivariate_normal_distribution.h

@@ -1,23 +1,22 @@
-/*!
- * This file is part of the CoverageControl library.
- * This file contains a class for Bivariate Normal Distribution.
- * The distribution is in it general form.
- *
- * TODO:
+/*
+ * This file is part of the CoverageControl library
  *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file bivariate_normal_distribution.h
+ * \brief Class for Bivariate Normal Distribution
+ */
+
 #ifndef COVERAGECONTROL_BIVARIATENORMALDISTRIBUTION_H_
 #define COVERAGECONTROL_BIVARIATENORMALDISTRIBUTION_H_
 

cppsrc/core/include/CoverageControl/cgal/config.h

@@ -1,21 +1,22 @@
-/*!
+/*
  * This file is part of the CoverageControl library
  *
- * Provides the configuration for the CGAL library.
- *
- * @author Saurav Agarwal
- * @contact [email protected], [email protected]
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
  * Repository: https://github.com/KumarRobotics/CoverageControl
  *
  * The CoverageControl library 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.
  *
- * DISCLAIMER OF WARRANTIES: THE SOFTWARE IS PROVIDED "AS-IS" WITHOUT WARRANTY OF ANY KIND INCLUDING ANY WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE OR PURPOSE OR OF NON-INFRINGEMENT. YOU BEAR ALL RISK RELATING TO QUALITY AND PERFORMANCE OF THE SOFTWARE OR HARDWARE.
- *
- * SUPPORT AND MAINTENANCE: No support, installation, or training is provided.
+ * The CoverageControl library 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 CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
  */
 
+/*!
+ * \file config.h
+ * \brief Contains the configuration for the CGAL library.
+ */
+
 #ifndef COVERAGECONTROL_CGAL_CONFIG_H_
 #define COVERAGECONTROL_CGAL_CONFIG_H_