docs

doc/overview.md

@@ -4,4 +4,4 @@ Write me!
 
 ![selfdriving-architecture](selfdriving-architecture.png)
 
-selfdriving::TPS_RRTstar: Implements the RRT* algorithm itself.
+selfdriving::TPS_Astar: Implements the A* algorithm itself.

doc/source/mainpage.md.in

@@ -3,7 +3,7 @@ Template mainpage.md, to which the README.md will be appended during "make"
 of Sphinx docs.
 -->
 
-\mainpage Self-driving RRT*-based C++ library
+\mainpage Self-driving A*-based C++ library
 
 - [Git repository](https://github.com/jlblancoc/selfdriving)
 - \ref overview_page

libselfdriving/include/selfdriving/algos/WaypointSequencer.h

@@ -51,7 +51,7 @@ struct NavErrorReason
 
 /** The top-level interface for users to control the vehicle navigation.
  *
- *  This class is based and extends `mrpt::nav::CAbstractNavigator` with the
+ * This class is based and extends `mrpt::nav::CAbstractNavigator` with the
  * capability of following a list of waypoints. By default, waypoints are
  * followed one by one, but, refer to \c Waypoint for a discussion on
  * `allow_skip`.
@@ -60,7 +60,8 @@ struct NavErrorReason
  *  - \c initialize() must be called before running any actual navigation.
  *
  *  - Callbacks must be provided for interfacing the real (or simulated)
- * robot/vehicle. They are given as arguments to \c initialize().
+ * robot/vehicle and its sensors. They must be provided as std::function<>
+ * instances within \c config_. Note they may be actual functions, or lambdas.
  *
  *  - \c navigation_step() must be called periodically in order to effectively
  * run the navigation. This method will internally call the callbacks to gather