Add some comments

source/armarx/navigation/human/ProxemicZoneCreator.h

@@ -38,7 +38,9 @@ namespace armarx::navigation::human
             float personalRadius = 1000;
 
             float movementInfluence = 1;
-            // in the coordinate system of the human
+            // an offset applied to the personal zone in the coordinate system of the human
+            // a positive x-value means an offset to the right
+            // a positive y-value means an offset to the front
             Eigen::Vector2f offset{100, 150};
         };
 

source/armarx/navigation/local_planning/TebObstacleManager.cpp

@@ -39,6 +39,7 @@ namespace armarx::navigation::local_planning
         obst->finalizePolygon();
         container.push_back(obst);
 
+        // visualize bounding box if layer is available
         if (visLayer != nullptr)
         {
             const Eigen::Vector3f min3d = conv::fromRos(min);
@@ -83,6 +84,7 @@ namespace armarx::navigation::local_planning
 
             container.push_back(obst);
 
+            // visualize proxemic zone if layer is available
             if (visLayer != nullptr)
             {
                 const Eigen::Vector3f axisLength(proxemicZone.shape.a, proxemicZone.shape.b, 0);

source/armarx/navigation/local_planning/TimedElasticBands.cpp

@@ -112,7 +112,7 @@ namespace armarx::navigation::local_planning
 
         geometry_msgs::Twist velocity_start = conv::toRos(scene.platformVelocity);
 
-        //TODO (SALt): fill obstacles
+
         fillObstacles();
 
         try