Improves documentation.

CMakeLists.txt

@@ -36,7 +36,7 @@ ament_environment_hooks(
 if(BUILD_DOCS)
   message(STATUS "Doxygen generation - Enabled")
   find_package(ament_cmake_doxygen REQUIRED)
-    ament_doxygen_generate(doxygen_maliput
+    ament_doxygen_generate(doxygen_maliput_sparse
       CONFIG_OVERLAY doc/Doxyfile.overlay.in
       TEST_ON_WARNS
     )

README.md

@@ -1 +1,87 @@
+[![GCC](https://github.com/maliput/maliput_sparse/actions/workflows/build.yml/badge.svg)](https://github.com/maliput/maliput_sparse/actions/workflows/build.yml)
+
 # maliput_sparse
+
+## Description
+
+`maliput_sparse` is a convenient package that provides several helpers for creating a maliput backend that is expected to be built on top of waypoints without any analytical model of the surface.
+
+By using the [builder API](https://maliput.readthedocs.io/en/latest/html/deps/maliput_sparse/html/builder_8h.html), the mathematical model is solved under the hood so the user doesn't have to dive into complex geometric calculations.
+
+**Note**: For full information about Maliput please visit [Maliput Documentation](https://maliput.readthedocs.io/en/latest/index.html).
+
+## API Documentation
+
+Refer to [Maliput sparse's Online API Documentation](https://maliput.readthedocs.io/en/latest/html/deps/maliput_sparse/html/index.html).
+
+## Examples
+
+[Getting Started](https://maliput.readthedocs.io/en/latest/getting_started.html) page is a good place for starting to see Maliput's capabilities and how to use a Maliput backend for getting a road network.
+
+ - [maliput_osm](https://github.com/maliput/maliput_osm): This maliput backend works as example on how `maliput_sparse` can be used for easily creating a backend that is based on a format that uses waypoints for describing the roads.
+
+## Installation
+
+### Supported platforms
+
+Ubuntu Focal Fossa 20.04 LTS, ROS2 Foxy.
+
+### Binary Installation on Ubuntu
+
+See [Installation Docs](https://maliput.readthedocs.io/en/latest/installation.html#binary-installation-on-ubuntu).
+
+### Source Installation on Ubuntu
+
+#### Prerequisites
+
+```
+sudo apt install python3-rosdep python3-colcon-common-extensions
+```
+
+#### Build
+
+1. Create colcon workspace if you don't have one yet.
+    ```sh
+    mkdir colcon_ws/src -p
+    ```
+
+2. Clone this repository in the `src` folder
+    ```sh
+    cd colcon_ws/src
+    git clone https://github.com/maliput/maliput_sparse.git
+    ```
+
+3. Install package dependencies via `rosdep`
+    ```
+    export ROS_DISTRO=foxy
+    ```
+    ```sh
+    rosdep update
+    rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src
+    ```
+
+4. Build the package
+    ```sh
+    colcon build --packages-up-to maliput_sparse
+    ```
+
+    **Note**: To build documentation a `-BUILD_DOCS` cmake flag is required:
+    ```sh
+    colcon build --packages-select maliput_sparse --cmake-args " -DBUILD_DOCS=On"
+    ```
+    More info at [Building Documentation](https://maliput.readthedocs.io/en/latest/developer_guidelines.html#building-the-documentation).
+
+For further info refer to [Source Installation on Ubuntu](https://maliput.readthedocs.io/en/latest/installation.html#source-installation-on-ubuntu)
+
+
+### For development
+
+It is recommended to follow the guidelines for setting up a development workspace as described [here](https://maliput.readthedocs.io/en/latest/developer_setup.html).
+
+## Contributing
+
+Please see [CONTRIBUTING](https://maliput.readthedocs.io/en/latest/contributing.html) page.
+
+## License
+
+[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://github.com/maliput/maliput_sparse/blob/main/LICENSE)

include/maliput_sparse/builder/builder.h

@@ -29,7 +29,8 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
-/// @file Builder API to construct a maliput::api::RoadGeometry.
+/// @file
+/// Builder API to construct a maliput::api::RoadGeometry.
 ///
 /// @details It allows simple construction of nested nodes in the maliput::api::RoadGeometry graph. The
 /// geometry details are expected to be computed / loaded outside this method to allow parallelization
@@ -390,7 +391,7 @@ class RoadGeometryBuilder final {
   RoadGeometryBuilder& AngularTolerance(double angular_tolerance);
 
   /// @brief Sets the scale length of the maliput::api::RoadGeometry.
-  /// @param scale_tolerance The scale length of the maliput::api::RoadGeometry. It must be positive.
+  /// @param scale_length The scale length of the maliput::api::RoadGeometry. It must be positive.
   /// @return A reference to this RoadGeometryBuilder.
   RoadGeometryBuilder& ScaleLength(double scale_length);
 

include/maliput_sparse/geometry/utility/geometry.h

@@ -114,7 +114,7 @@ ClosestPointResult GetClosestPoint(const std::pair<maliput::math::Vector3, malip
                                    const maliput::math::Vector3& xyz);
 
 /// Gets the closest point in the @p line_string to the given @p xyz point.
-/// @param segment Segment to be computed the closest point from.
+/// @param line_string LineString3d to be computed the closest point from.
 /// @param xyz Point to be computed the closest point to.
 /// @return A ClosestPointResult struct containing the closest point, the distance between the closest point and @p xyz
 /// and the p coordinate in the LineString3d matching the closest point.