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update doxygen
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@sikang
sikang committed Jul 18, 2018
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8 changes: 4 additions & 4 deletions README.md
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Expand Up @@ -14,7 +14,7 @@ For technical details, refer to the original paper ["Search-based Motion Plannin
- Reformat the repo structure
- Add yaw primitive
- Add potential function to perturb trajectory
- Separate `ellipsoid_planner` to `mpl_ros`
- Separate `ellipsoid_planner` to [`mpl_ros`](https://github.com/sikang/mpl_ros.git)

## Installation
#### Prerequisite:
Expand Down Expand Up @@ -150,7 +150,7 @@ bool valid = planner->plan(start, goal); // Plan from start to goal
```
## Test Examples
#### Example1 (direct planning):
#### Example1 (direct plan):
After compiling by `cmake`, run following command for test a 2D planning in a given map:
```bash
$ ./build/test_planner_2d ./data/corridor.yaml
Expand Down Expand Up @@ -218,7 +218,7 @@ The output image `output.svg` is saved in the current folder:

It is recommended to visualize the `svg` in web browser (for example, `firefox output.svg`).

#### Example2 (planning with a prior trajectory):
#### Example2 (plan with a prior trajectory):
Run following command for test a 2D planning, it first finds a trajector in low dimensional space (acceleration-driven), then it uses the planned trajectory to refine for a trajectory in high dimensional space (jerk-driven):
```bash
$ ./build/test_planner_2d_prior_traj ./data/corridor.yaml
Expand All @@ -227,7 +227,7 @@ $ ./build/test_planner_2d_prior_traj ./data/corridor.yaml
In the following output image, the black curve is the prior trajectory:
![Visualization](./data/example2.png)

#### Example3 (plan with yaw):
#### Example3 (plan with yaw constraint):
In some cases, the robot needs to move forward within the FOV of the camera or
range sensor such that the yaw needs to be considered when planning. `MapPlanner` handles the yaw constraint properly.
Following image shows the output of running:
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40 changes: 18 additions & 22 deletions docs/annotated.html
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<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span>]</div><table class="directory">
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</table>
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