cleaned up comments

fuse_variables/include/fuse_variables/acceleration_angular_3d_stamped.h

@@ -51,9 +51,9 @@ namespace fuse_variables
  * piece of hardware.
  *
  * This is commonly used to represent a robot's acceleration. The UUID of this class is static after construction.
- * The value of the acceleration can be modified.
+ * As such, the timestamp and device id cannot be modified. The value of the acceleration can be modified.
  */
-class AccelerationAngular3DStamped : public FixedSizeVariable<3>, public Stamped
+class AccelerationAngular3DStamped final : public FixedSizeVariable<3>, public Stamped
 {
 public:
   SMART_PTR_DEFINITIONS(AccelerationAngular3DStamped);
@@ -72,7 +72,7 @@ class AccelerationAngular3DStamped : public FixedSizeVariable<3>, public Stamped
    * @brief Construct a 3D angular acceleration at a specific point in time.
    *
    * @param[in] stamp     The timestamp attached to this angular acceleration.
-   * @param[in] device_id An optional hardware id, for use when variables originate from multiple robots or devices
+   * @param[in] device_id An optional device id, for use when variables originate from multiple robots or devices
    */
   explicit AccelerationAngular3DStamped(
     const ros::Time& stamp,

fuse_variables/include/fuse_variables/acceleration_linear_2d_stamped.h

@@ -50,8 +50,7 @@ namespace fuse_variables
  * @brief Variable representing a 2D linear acceleration (ax, ay) at a specific time, with a specific piece of hardware.
  *
  * This is commonly used to represent a robot's acceleration. The UUID of this class is static after construction.
- * As such, the timestamp and hardware id cannot be modified (with the exception of the deserializeMessage() function).
- * The value of the acceleration can be modified.
+ * As such, the timestamp and device id cannot be modified. The value of the acceleration can be modified.
  */
 class AccelerationLinear2DStamped final : public FixedSizeVariable<2>, public Stamped
 {
@@ -71,7 +70,7 @@ class AccelerationLinear2DStamped final : public FixedSizeVariable<2>, public St
    * @brief Construct a 2D acceleration at a specific point in time.
    *
    * @param[in] stamp     The timestamp attached to this acceleration.
-   * @param[in] device_id An optional hardware id, for use when variables originate from multiple robots or devices
+   * @param[in] device_id An optional device id, for use when variables originate from multiple robots or devices
    */
   explicit AccelerationLinear2DStamped(
     const ros::Time& stamp,

fuse_variables/include/fuse_variables/acceleration_linear_3d_stamped.h

@@ -50,7 +50,7 @@ namespace fuse_variables
  * @brief Variable representing a 3D linear acceleration (ax, ay, az) at a specific time, with a specific piece of hardware.
  *
  * This is commonly used to represent a robot's acceleration. The UUID of this class is static after construction.
- * The value of the acceleration can be modified.
+ * As such, the timestamp and device id cannot be modified. The value of the acceleration can be modified.
  */
 class AccelerationLinear3DStamped final : public FixedSizeVariable<3>,  public Stamped
 {
@@ -71,7 +71,7 @@ class AccelerationLinear3DStamped final : public FixedSizeVariable<3>,  public S
    * @brief Construct a 3D acceleration at a specific point in time.
    *
    * @param[in] stamp     The timestamp attached to this acceleration.
-   * @param[in] device_id An optional hardware id, for use when variables originate from multiple robots or devices
+   * @param[in] device_id An optional device id, for use when variables originate from multiple robots or devices
    */
   explicit AccelerationLinear3DStamped(
     const ros::Time& stamp,

fuse_variables/include/fuse_variables/orientation_2d_stamped.h

@@ -53,8 +53,7 @@ namespace fuse_variables
  * @brief Variable representing a 2D orientation (theta) at a specific time, with a specific piece of hardware.
  *
  * This is commonly used to represent a robot's orientation within a map. The UUID of this class is static after
- * construction. As such, the timestamp and hardware id cannot be modified (with the exception of the
- * deserializeMessage() function). The value of the orientation can be modified.
+ * construction. As such, the timestamp and device id cannot be modified. The value of the orientation can be modified.
  */
 class Orientation2DStamped final : public FixedSizeVariable<1>, public Stamped
 {
@@ -73,7 +72,7 @@ class Orientation2DStamped final : public FixedSizeVariable<1>, public Stamped
    * @brief Construct a 2D orientation at a specific point in time.
    *
    * @param[in] stamp     The timestamp attached to this orientation.
-   * @param[in] device_id An optional hardware id, for use when variables originate from multiple robots or devices
+   * @param[in] device_id An optional device id, for use when variables originate from multiple robots or devices
    *
    */
   explicit Orientation2DStamped(const ros::Time& stamp, const fuse_core::UUID& device_id = fuse_core::uuid::NIL);

fuse_variables/include/fuse_variables/orientation_3d_stamped.h

@@ -51,13 +51,13 @@ namespace fuse_variables
  * hardware (e.g., robot)
  *
  * This is commonly used to represent a robot orientation in single or multi-robot systems. The UUID of this class is
- * static after construction. As such, the timestamp and hardware ID cannot be modified. The value of the orientation
+ * static after construction. As such, the timestamp and device ID cannot be modified. The value of the orientation
  * can be modified.
  * 
  * The internal representation for this is different from the typical ROS representation, as w is the first component.
  * This is necessary to use the Ceres local parameterization for quaternions.
  */
-class Orientation3DStamped : public FixedSizeVariable<4>, public Stamped
+class Orientation3DStamped final : public FixedSizeVariable<4>, public Stamped
 {
 public:
   SMART_PTR_DEFINITIONS(Orientation3DStamped);

fuse_variables/include/fuse_variables/position_3d_stamped.h

@@ -54,7 +54,7 @@ namespace fuse_variables
  * static after construction. As such, the timestamp and device ID cannot be modified. The value of the position
  * can be modified.
  */
-class Position3DStamped : public FixedSizeVariable<3>, public Stamped
+class Position3DStamped final : public FixedSizeVariable<3>, public Stamped
 {
 public:
   SMART_PTR_DEFINITIONS(Position3DStamped);

fuse_variables/include/fuse_variables/stamped.h

@@ -45,7 +45,10 @@ namespace fuse_variables
 /**
  * @brief A class that provides a timestamp and device id
  *
- * something something something...
+ * This is intended to be used as secondary base class (multiple inheritance) for variables that are time-varying.
+ * Some common examples include robot poses or velocities. This is in contrast to variables that represent unknown
+ * but fixed quantities, such as the world position of landmarks, or possibly calibration values that are assumed
+ * constant.
  */
 class Stamped
 {

fuse_variables/include/fuse_variables/velocity_angular_3d_stamped.h

@@ -51,9 +51,9 @@ namespace fuse_variables
  * of hardware.
  *
  * This is commonly used to represent a robot's velocity. The UUID of this class is static after construction.
- * The value of the velocity can be modified.
+ * As such, the timestamp and device ID cannot be modified. The value of the velocity can be modified.
  */
-class VelocityAngular3DStamped : public FixedSizeVariable<3>, public Stamped
+class VelocityAngular3DStamped final : public FixedSizeVariable<3>, public Stamped
 {
 public:
   SMART_PTR_DEFINITIONS(VelocityAngular3DStamped);

fuse_variables/include/fuse_variables/velocity_linear_2d_stamped.h

@@ -52,7 +52,7 @@ namespace fuse_variables
  * This is commonly used to represent a robot's velocity. The UUID of this class is static after construction.
  * As such, the timestamp and device id cannot be modified. The value of the velocity can be modified.
  */
-class VelocityLinear2DStamped : public FixedSizeVariable<2>, public Stamped
+class VelocityLinear2DStamped final : public FixedSizeVariable<2>, public Stamped
 {
 public:
   SMART_PTR_DEFINITIONS(VelocityLinear2DStamped);

fuse_variables/include/fuse_variables/velocity_linear_3d_stamped.h

@@ -53,7 +53,7 @@ namespace fuse_variables
  * This is commonly used to represent a robot's velocity. The UUID of this class is static after construction.
  * As such, the timestamp and device id cannot be modified. The value of the velocity can be modified.
  */
-class VelocityLinear3DStamped : public FixedSizeVariable<3>, public Stamped
+class VelocityLinear3DStamped final : public FixedSizeVariable<3>, public Stamped
 {
 public:
   SMART_PTR_DEFINITIONS(VelocityLinear3DStamped);