added header for each file

2D_Vector/OccupancyMapHash.cpp

@@ -1,3 +1,11 @@
+// This file implements the OccupancyMapHash class
+// This class is a hash table based approach to occupancy map
+// The occupancy map is a 2D grid of boolean values
+// The occupancy map is implemented as a 2D vector of boolean values
+// The occupancy map is initialized to be all false
+// The occupancy map is updated by setting the location to be occupied
+// The occupancy map is queried by checking the occupancy status of a location
+
 #include "OccupancyMapHash.h"
 
 const int MAX_SIZE = 2048; // MAX_SIZE is the maximum size of the map
@@ -27,4 +35,5 @@ bool COccupancyMapHash::CheckIsOccupied(std::pair<int,int> Location)
 {
   // Return the occupancy status of the location
   return mOccupancyGrid[Location.first][Location.second];
-}
+}
+

2D_Vector/OccupancyMapHash.h

@@ -1,3 +1,5 @@
+// Header file for OccupancyMapHash.cpp
+
 #ifndef _OCCUPANCYMAPVECTOR_H
 #define _OCCUPANCYMAPVECTOR_H
 
@@ -7,7 +9,7 @@
 
 // Class to implement a occupancy map using a vector
 class COccupancyMapHash : public COccupancyMapBase
-{
+{ 
 
   public:
     COccupancyMapHash();

Set/OccupancyMapHash.cpp

@@ -1,3 +1,11 @@
+// Implementation of the OccupancyMapHash class
+// This class is a hash table based approach to occupancy map
+// The occupancy map is a 2D grid of boolean values
+// The occupancy map is implemented as a 2D vector of boolean values
+// The occupancy map is initialized to be all false
+// The occupancy map is updated by setting the location to be occupied
+// The occupancy map is queried by checking the occupancy status of a location
+
 #include "OccupancyMapHash.h"
 
 // Constructor

Set/OccupancyMapHash.h

@@ -1,3 +1,5 @@
+// Header file for OccupancyMapHash.cpp
+
 #ifndef _OCCUPANCYMAPVECTOR_H
 #define _OCCUPANCYMAPVECTOR_H