Added example code for JSON file

aikido_perception/include/aikido/perception/YamlAprilTagsDatabase.hpp

@@ -19,7 +19,43 @@ namespace perception{
 /// Each such key points to a nested map, where the keys are 'resource', 'name' and 'offset'
 /// The values for each of the nested keys for a particular Tag ID are to be returned to the
 /// calling method via the callback.
-/// 
+/// Here is an example entry in a JSON (subset of YAML) file:
+///
+/// \code
+/// "tag124": {
+///    "resource": "package://pr_ordata/data/objects/plastic_glass.urdf",
+///    "name": "plastic_glass",
+///    "offset": [
+///      [
+///        -0.0068393994632501,
+///        -0.09054787493933,
+///        -0.99586861832219,
+///        0.14460904118031
+///        ]
+///      ,
+///      [   
+///        -0.9999766064057,
+///        0.00052349074982687,
+///        0.0068200145734176,
+///        -0.00097599685803373
+///        ]
+///      ,
+///      [     
+///        -9.6209816943679e-5,
+///        0.99589196617977,
+///        -0.090549337061432,
+///        -0.033644917605727
+///      ]
+///      ,
+///      [
+///        0,
+///        0,
+///        0,
+///        1
+///      ]
+///    ]
+///  }
+/// \endcode
 class YamlAprilTagsDatabase : public AprilTagsDatabase
 {
 public: