From 1f22d8a786d2d6727297d6953152f50ee60261fc Mon Sep 17 00:00:00 2001
From: mcarfagno <carfagnomarcello@gmail.com>
Date: Wed, 25 Oct 2023 14:41:04 +0100
Subject: [PATCH] use neogen for docstrings

---
 mpc_pybullet_demo/cvxpy_mpc/utils.py | 34 +++++++++++++++-------------
 1 file changed, 18 insertions(+), 16 deletions(-)

diff --git a/mpc_pybullet_demo/cvxpy_mpc/utils.py b/mpc_pybullet_demo/cvxpy_mpc/utils.py
index 4450d2a..f1d9726 100755
--- a/mpc_pybullet_demo/cvxpy_mpc/utils.py
+++ b/mpc_pybullet_demo/cvxpy_mpc/utils.py
@@ -6,12 +6,12 @@ def compute_path_from_wp(start_xp, start_yp, step=0.1):
     """
 
     Args:
-        start_xp ():
-        start_yp ():
-        step ():
+        start_xp (array-like): 1D array of x-positions
+        start_yp (array-like): 1D array of y-positions
+        step (float): intepolation step
 
     Returns:
-
+        ndarray of shape (3,N) representing the  path as x,y,heading
     """
     final_xp = []
     final_yp = []
@@ -37,13 +37,14 @@ def compute_path_from_wp(start_xp, start_yp, step=0.1):
 
 def get_nn_idx(state, path):
     """
+    Finds the index of the closest element
 
     Args:
-        state ():
-        path ():
+        state (array-like): 1D array whose first two elements are x-pos and y-pos
+        path (ndarray): 2D array of shape (2,N) of x,y points
 
     Returns:
-
+        int: the index of the closest element
     """
     dx = state[0] - path[0, :]
     dy = state[1] - path[1, :]
@@ -69,14 +70,14 @@ def get_ref_trajectory(state, path, target_v, T, DT):
     """
 
     Args:
-        state ():
-        path ():
-        target_v ():
-        T ():
-        DT ():
+        state (array-like): state of the vehicle in world frame
+        path (ndarray): 2D array representing the path as x,y,heading points in world frame
+        target_v (float): reference speed
+        T (float): trajectory duration
+        DT (float): trajectory time-step
 
     Returns:
-
+        ndarray: 2D array representing state space reference trajectory expressed w.r.t ego state
     """
     K = int(T / DT)
 
@@ -109,13 +110,14 @@ def get_ref_trajectory(state, path, target_v, T, DT):
 
     def fix_angle_reference(angle_ref, angle_init):
         """
+        Removes jumps greater than 2PI
 
         Args:
-            angle_ref ():
-            angle_init ():
+            angle_ref (array-like):
+            angle_init (float):
 
         Returns:
-
+            array-like:
         """
         diff_angle = angle_ref - angle_init
         diff_angle = np.unwrap(diff_angle)