npfg: header formatting

src/lib/npfg/npfg.hpp

@@ -484,7 +484,7 @@ private:
 	 * track error vector to that of the path tangent vector.
 	 *
 	 * @param[in] ground_speed Vehicle ground speed [m/s]
-	* ADSFASDFSAFDSF
+	 * @param[in] time_const Controller time constant [s]
 	 * @return Track error boundary [m]
 	 */
 	float trackErrorBound(const float ground_speed, const float time_const) const;
@@ -512,7 +512,8 @@ private:
 	float timeConst(const float period, const float damping) const;
 
 	/*
-	 * Cacluates the look ahead angle as a function of the normalized track error.
+	 * Cacluates the look ahead angle as a quadratic function of the normalized
+	 * track error.
 	 *
 	 * @param[in] normalized_track_error Normalized track error (track error / track error boundary)
 	 * @return Look ahead angle [rad]
@@ -523,14 +524,12 @@ private:
 	 * Calculates the bearing vector and track proximity transitioning variable
 	 * from the look-ahead angle mapping.
 	 *
-	 * @param[out] track_proximity Smoothing parameter based on vehicle proximity
-	 *             to track with values between 0 (at track error boundary) and 1 (on track)
-	 * @param[in] unit_track_error Unit vector in direction from vehicle to
-	 *            closest point on path
 	 * @param[in] unit_path_tangent Unit vector tangent to path at closest point
 	 *            in direction of path
 	 * @param[in] look_ahead_ang The bearing vector lies at this angle from
 	 *            the path normal vector [rad]
+	 * @param[in] signed_track_error Signed error to track at closest point (sign
+	 *            determined by path normal direction) [m]
 	 * @return Unit bearing vector
 	 */
 	matrix::Vector2f bearingVec(const matrix::Vector2f &unit_path_tangent, const float look_ahead_ang,