Commenting clnav2z

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 RobosoftAI Inc.
+// Copyright 2024 Robosoft Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,32 +12,31 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-/*****************************************************************************************************************
- *
- * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
- *
- ******************************************************************************************************************/
 #pragma once
-
+#include <nav2_msgs/action/navigate_to_pose.hpp>
 #include <smacc2/client_bases/smacc_action_client_base.hpp>
 #include <smacc2/smacc.hpp>
 
-#include <nav2_msgs/action/navigate_to_pose.hpp>
-
+// Declare the namespace for the client library.
 namespace cl_nav2z
 {
+// Declare Client class, inherit from SmaccActionClientBase with the action type NavigateToPose.
 class ClNav2Z
 : public smacc2::client_bases::SmaccActionClientBase<nav2_msgs::action::NavigateToPose>
 {
 public:
+  // Bring the SmaccActionClientBase types into the current scope.
   using smacc2::client_bases::SmaccActionClientBase<nav2_msgs::action::NavigateToPose>::GoalHandle;
   using smacc2::client_bases::SmaccActionClientBase<
     nav2_msgs::action::NavigateToPose>::ResultCallback;
 
+  // Define "SmaccNavigateResultSignal" as a SmaccSignal that points to the WrappedResult type of SmaccActionClientBase.
   typedef smacc2::SmaccSignal<void(const WrappedResult &)> SmaccNavigateResultSignal;
 
+  // Declare Client constructor with string set to the right ROS action.
   ClNav2Z(std::string navigateToPoseAction = "/navigate_to_pose");
 
+  // Declare Client destructor
   virtual ~ClNav2Z();
 };
 

smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/nav2z_client.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021 RobosoftAI Inc.
+// Copyright 2024 Robosoft Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,28 +12,26 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-/*****************************************************************************************************************
- *
- * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
- *
- ******************************************************************************************************************/
 #include <nav2z_client/nav2z_client.hpp>
-
-#include <string>
-
 #include <pluginlib/class_list_macros.hpp>
+#include <string>
 
+// Define the namespace for the client library.
 namespace cl_nav2z
 {
+// Define "Base" as a SmaccActionClientBase specialized for the NavigateToPose action, tie to WrappedResult.
 typedef smacc2::client_bases::SmaccActionClientBase<nav2_msgs::action::NavigateToPose> Base;
 typedef Base::WrappedResult WrappedResult;
 
+// Define Client constructor.
 ClNav2Z::ClNav2Z(std::string moveBaseName) : Base(moveBaseName)
 {
   // RCLCPP_INFO(getLogger(),"Smacc Move Base Action Client");
 }
 
+// Define Client destructor.
 ClNav2Z::~ClNav2Z() {}
 }  // namespace cl_nav2z
 
+// Export the ClNav2Z class as type smacc2::ISmaccClient as an implementation of the ISmaccClient interface.
 PLUGINLIB_EXPORT_CLASS(cl_nav2z::ClNav2Z, smacc2::ISmaccClient)