Added comments to 5 functions across 2 files

Author: komment-ai[bot]

components/g2o_cpp/circle_gen.py

@@ -11,6 +11,12 @@ def add_noise(value, std_dev):
 
 
 def main():
+    """
+    Generates a G2O file for a circular trajectory with noisy landmark observations,
+    adding noise to the robot's poses, edges, and observation edges according to
+    given standard deviations.
+
+    """
     num_steps = 50  # Number of steps in the circle
     angle_step = 360/num_steps  # Angle step in degrees
     radius = 3.0  # Radius of the circle

components/g2o_cpp/draw_circle.py

@@ -3,6 +3,19 @@
 import numpy as np
 
 def parse_g2o_file(filename):
+    """
+    Reads a file containing G2O data and returns two dictionaries: `poses` stores
+    vertex positions as (x, y, theta), while `landmarks` stores the corresponding
+    vertex indices.
+
+    Args:
+        filename (str): 3D pose or Landmark file that is being parsed by the function.
+
+    Returns:
+        dict: a tuple of two dictionaries: `poses` and `landmarks`, where `poses`
+        contains 3D pose data and `landmarks` contains 2D coordinate data.
+
+    """
     poses = {}
     landmarks = {}
     with open(filename, 'r') as file:
@@ -23,6 +36,18 @@ def parse_g2o_file(filename):
 
 
 def read_covariances_from_file(filename):
+    """
+    Reads a file containing vertex id and pairwise matrix values, and constructs
+    a dictionary of covariance matrices for each vertex based on the read data.
+
+    Args:
+        filename (str): file from which the covariances are to be read.
+
+    Returns:
+        dict: a dictionary of matrices, where each matrix represents the covariance
+        between two vertices in the graph.
+
+    """
     covariances = {}
     try:
         with open(filename, 'r') as file:
@@ -56,6 +81,34 @@ def read_covariances_from_file(filename):
 
 def plot_graph(poses, landmarks, ax, title, covariances=None, original=True):
     # Plot landmarks
+    """
+    Plots landmarks on a map using circles and orientation lines, also plots poses
+    with circles and orientation lines.
+
+    Args:
+        poses (dict): 3D positions of the robot's end effector over time, which
+            are plotted along with the landmarks and orientation lines to visualize
+            the robot's motion.
+        landmarks (dict): 2D coordinates of distinct landmarks in the robot's
+            environment, which are used to plot circles for each landmark in the
+            graph.
+        ax ("Artifact" object, based on its name and how it is used within the
+            function's code block.): 2D axis object in which the graph will be plotted.
+            
+            		- `ax`: The axis object to be used for plotting the data. It has
+            several attributes and methods that can be used to customize the plot.
+            		- `set_xlabel()`: Sets the label for the x-axis.
+            		- `set_ylabel()`: Sets the label for the y-axis.
+            		- `set_title()`: Sets the title of the plot.
+            		- `axis('equal')`: Sets the plot layout to be equal-sized axis.
+        title (str): title that will be displayed on the graph's axis.
+        covariances (dict): 2D covariance matrix of landmark positions, which can
+            be optionally plotted as ellipses around each landmark in addition to
+            the landmarks themselves.
+        original (bool): whether to plot original landmarks or covariance ellipses
+            for landmarks, when `covariances` is provided as an argument to the function.
+
+    """
     for landmark in landmarks.values():
         ax.plot(landmark[0], landmark[1], 'ro')  # 'ro' for red circle
 
@@ -132,6 +185,12 @@ def draw_covariance_ellipse(x, y, cov, ax):
 
 def main():
     # Filenames for the original and optimized graphs
+    """
+    1) parses two .g2o files using `parse_g2o_file()`, 2) reads covariances from
+    a file, and 3) plots both original and optimized graphs with different labels
+    using `plot_graph()`.
+
+    """
     original_filename = 'circle.g2o'  # Update this to your original .g2o file path
     optimized_filename = 'optimized_circle.g2o'  # Update this to your optimized .g2o file path