Tidy up some lidar stuff for testing and clarity.

tracking/algorithms.py

@@ -27,11 +27,11 @@ class Group:
         self._number = number
 
     def _update_min_max(self, new_point):
-        '''
+        """
         Updates the in and max points for this group.
         This is to determine when assigning groups whether the
         same group is selected.
-        '''
+        """
         converted_point = convert_lidar_to_cartesian(new_point)
 
         if self._minX is None or self._minX > converted_point[0]:
@@ -66,11 +66,22 @@ def convert_lidar_to_cartesian(new_point):
 
 
 def calc_groups(scan):
-    '''
+    """
     Calculates groups of points from a lidar scan. The scan should
     already be sorted. 
-    Should return all groups. 
-    '''
+
+    Parameters
+    ----------
+
+    scan: Iterable
+        The lidar scan data to get groups of.
+        Should be of format: (quality, angle, distance)
+
+    Returns
+    -------
+    list
+        List of groups that were found.
+    """
     prevPoint = None
     currentGroup = None
     allGroups = []
@@ -104,9 +115,9 @@ def find_centre(group):
 
 
 def assign_groups(prev_groups, new_groups):
-    '''
+    """
     Assigns group numbers to a new scan based on the groups of an old scan. 
-    '''
+    """
     for group in prev_groups:
         old_centre = find_centre(prev_groups)
         for new_group in new_groups:
@@ -119,9 +130,9 @@ def assign_groups(prev_groups, new_groups):
 
 
 def updateCarVelocity(oldGroup, newGroup):
-    '''
-    Return a tuple (throttleChange, steeringChange) that should be
-    applied given the change in the centre of the groups. 
-    '''
-
+    """
+    Return a vector indicating how the tracked group has changed, which can
+    be used to then update the steering/throttle of the car (or other vehicle that 
+    may be used)
+    """
     pass