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bergsoe  committed c3e3ea6

API doc.

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  • Parent commits 9393ea2

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File src/PaplRRT.mli

 type 'a pair_t = 'a * 'a
 
 type 'a expand_t = 'a -> 'a -> 'a list * bool
+(** Tree expansions.
+
+    If [expand] is an expansion function then [(qs, reached) = expand qa qb] is
+    a list of nodes [qs] leading from [qa] towards [qb]. The flag [reached] is
+    [true] if the movement from the last element of [qs] to [qb] is valid;
+    otherwise [reached] is false.
+*)
 
 module BruteForce : sig
 
   module type SETUP = sig
     type q_t
+    (** Configurations. *)
+
     include (PaplTreePlanner.SETUP
              with type q_t := q_t and type value_t = q_t)
 
     val add_root : t -> q_t -> node_t
+    (** Add a root to a search tree.
+
+        The node [root = add_root s q] is a new root node of [s] containing [q].
+    *)
+
     val create : ?callback:(t -> unit) -> unit -> t
+    (** Construct a search tree.
+
+        The search tree [s = create ~callback ()] calls [callback] every time
+        [expand s] is being called.
+    *)
+
     val create_point : q_t -> t
+    (** Construct a search tree for a point target.
+
+        The search tree [s = create_point q] contains a single root node with
+        the value [q].
+    *)
+
     val create_region : q_t list PaplSampler.t -> t
+    (** Construct a search tree for a region target.
+
+        The search tree [s = create_region region] samples [region] every time
+        [expand s] is being called and inserts the resulting configurations as
+        root nodes of [s].
+    *)
+
     val get_nodes : t -> node_t BatEnum.t
+    (** Enumeration of all nodes of the search tree. *)
   end
 
   module type SETUP_PAIR = sig

File src/PaplSBL.mli

     val add_root : t -> q_t -> node_t
     (** Add a root to a search tree.
 
-        The node [root = add_root s q] is a new root node of [s] containing the
-        value [q].
+        The node [root = add_root s q] is a new root node of [s] containing [q].
     *)
 
     val create : ?callback:(t -> unit) -> unit -> t