1. bergsoe
  2. papl

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bergsoe  committed 5a1c12d

API doc

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File src/PaplDLTree.mli

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-(** Tree with links from child to parent and parent to child
+(** Double linked trees
+
+    A node in double linked tree has a pointer to its parent and each of its
+    children.
+
+    The double linked tree is an imperative data structure: nodes can be added
+    and detached.
 *)
 
 type 'a node

File src/PaplDLTreePlanner.mli

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+(** Path planning using double linked trees
+*)
 
 module type SETUP = sig
   type t

File src/PaplIndex.mli

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+(** Index modules
+*)
+
+(** {2 Types} *)
 
 module type BASE = sig
   type value_t
   val add : t -> value_t -> unit
 end
 
+(** {2 Implementations} *)
+
 module BruteForce : sig
   module type S = sig
     include BASE

File src/PaplSBL.mli

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+(** SBL planners *)
 
 module type SETUP = sig
   type q_t

File src/PaplStraightPlanner.mli

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     point using a planner constraint ({! PaplPlannerConstraint}). If the constraint
     rejects the connection then the planner fails.
 
-    Straight connection are useful if you either know that the straight
-    connection from start to goal will succeed or if you want to attempt a
-    simpler solution before committing to a planner with a more complex search
-    pattern.
+    Such planners are useful if you know that the straight connection from start
+    to goal will succeed, or if you want to try out a simple solution before
+    committing to a planner with a more complex search behaviour.
 *)
 
 val point_planner : 'a PaplPlannerConstraint.t -> 'a PaplPlanner.point_t

File src/PaplTree.mli

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-(** Simple tree for use in tree planners
+(** Single linked trees
+
+    A node in a single linked tree has a pointer only to its parent.
+
+    The single linked tree is a purely functional data structure.
 *)
 
 type 'a node

File src/PaplTreeIndex.mli

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+(** Index modules for tree nodes
+*)
+
+(** {2 Types} *)
 
 module type BASE = sig
   type t

File src/PaplTreePlanner.mli

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+(** Path planning using single linked trees
+*)
 
 module type SETUP = sig
   type t