Finish documention until someone change something

lib/Navigation/navigation.h

@@ -1,7 +1,7 @@
 /**
  * @file navigation.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a class which navigate an object by the given route
  * @version 0.1
  * @date 2022-01-10
  * 
@@ -18,33 +18,153 @@
 
 #include "route.h"
 
+/**
+ * @brief The minimal distance between Points
+ * 
+ * This is a very critical option. It have to be
+ * around the half accuracy of the positioning system
+ * 
+ */
 #define MIN_DISTANCE_BETWEEN_POINTS 1
 
+/**
+ * @brief This struct inherits the result of the navigation
+ * 
+ * The drive get objects of this struct and should
+ * correct the direction in dependency on this.
+ * 
+ */
 struct CourseCorrection {
     int16_t correction;
     double distance;
 };
+
+/**
+ * @brief This class navigate an object
+ * 
+ * The class use the given Route and the gps device
+ * to tell the driver in which direction he have to
+ * be drive and the distance to the next checkpoint.
+ * 
+ */
 class Navigation {
     public:
+        /**
+         * @brief Construct a new Navigation object
+         * 
+         * @param rx pin to the gps device
+         * @param tx pin to the gps device
+         * @param route with which to navigate
+         */
         Navigation(uint8_t rx, uint8_t tx, Route* route = nullptr);
+
+        /**
+         * @brief Destroy the Navigation object
+         * 
+         */
         ~Navigation();
+
+        /**
+         * @brief Decodes new GPS information
+         * 
+         * Should be called ever main loop.
+         */
         void loop();
 
+        /**
+         * @brief creates a new empty route
+         * 
+         */
         void newRoute();
 
+        /**
+         * @brief Tries to start the route
+         * 
+         * For example the route can not be started 
+         * if there are no Points or wrong Points.
+         * 
+         * @return true route is started
+         * @return false route can not be started
+         */
         bool startNavigation();
+
+        /**
+         * @brief Get the Course Correction object
+         * 
+         * This should be called by the driver to get new instructions.
+         * 
+         * @return CourseCorrection 
+         */
         CourseCorrection getCourseCorrection();
 
+        /**
+         * @brief Tries to add the current Position to the route
+         * 
+         * This can be go wrong if there is no valid GPS signal
+         * 
+         * @return true successful added point
+         * @return false no point added to route
+         */
         bool addCurrentPosToRoute();
 
+        /**
+         * @brief Returns the GPS object
+         * 
+         * @return TinyGPSPlus* 
+         */
         TinyGPSPlus* getGPS() { return this->gps; }
+
+        /**
+         * @brief Get the Route Info object
+         * 
+         * This object contains information about the route.
+         * For example the stored points.
+         * 
+         * @return RouteInfo 
+         */
         RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
 
     private:
+        /**
+         * @brief Returns the current Location
+         * 
+         * @return Point 
+         */
         Point currentLocation();
+
+        /**
+         * @brief Set the next point as target
+         * 
+         * @return true
+         * @return false 
+         */
         bool nextPoint();
+
+        /**
+         * @brief Set the target point
+         * 
+         * @param target 
+         * @return true 
+         * @return false 
+         */
         bool setTargetPoint(Point target);
-        static double distanceBetwenn(Point p1, Point p2);
+
+        /**
+         * @brief Calculate the distance between to points
+         * 
+         * @param p1 point 1
+         * @param p2 point 2
+         * @return double distance in meter
+         */
+        static double distanceBetween(Point p1, Point p2);
+
+        /**
+         * @brief Calculates the course from point1 to point2
+         * 
+         * @param p1 point 1
+         * @param p2 point 2
+         * @return double degree north = 0° west = 270°
+         */
         static double courseTo(Point p1, Point p2);
 
         TinyGPSPlus* gps;
@@ -57,4 +177,4 @@ class Navigation {
         bool navigationFinished = false;
 };
 
-#endif // NAVIGATION_H
+#endif // NAVIGATION_H