From 4c51a6053aa76288cdec07e3f1add2ef56b8b014 Mon Sep 17 00:00:00 2001
From: Sara <sara@saragerretsen.nl>
Date: Wed, 27 Mar 2024 23:12:05 +0100
Subject: [PATCH] chore(docs): commenting pass on Planner::make_plan

---
 src/planner.cpp | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/planner.cpp b/src/planner.cpp
index 0940b95..5520c65 100644
--- a/src/planner.cpp
+++ b/src/planner.cpp
@@ -87,24 +87,29 @@ Array Planner::gdscript_make_plan(Ref<Goal> goal) {
 }
 
 Vector<Ref<Action>> Planner::make_plan(Ref<Goal> goal) {
-    UtilityFunctions::print("run");
+    // ordered list of all nodes still being considered
     Vector<PlannerNode> open{PlannerNode::goal_node(goal->goal_state)};
     PlannerNode first = open.get(0);
-    FromMap from{};
-    ScoreMap dist_traveled{};
-    ScoreMap best_guess{};
+    FromMap from{}; // mapping states to the previous in the path
+    ScoreMap dist_traveled{}; // mapping states to the shortest found distance from start
     dist_traveled.insert(first, 0);
+    ScoreMap best_guess{}; // mapping states to the best guess of the distance to the goal
     best_guess.insert(first, first.open_requirements.size());
-    PlannerNode current{};
+    PlannerNode current{}; // state we're checking for neighbours or completion
     while(!open.is_empty()) {
+        // current is the top of the ordered list
         current = open.get(0);
+        // check if we've reached the goal
         if(current.open_requirements.is_empty())
             return trace_path(from, current);
+        // current is no longer considered as it cannot be the end
         open.erase(current);
+        // find all neighbours of this state
         Vector<PlannerNode> neighbours = this->find_neighbours_of(current);
         for(PlannerNode const& node : neighbours) {
-            float const new_dist = dist_traveled.get(current) + 1.f;
+            float const new_dist = dist_traveled.get(current) + 1.f; // unweighed distance traveled to neighbour
             if(!dist_traveled.has(node) || new_dist < dist_traveled.get(node)) {
+                // store distances
                 dist_traveled[node] = new_dist;
                 best_guess[node] = new_dist + node.open_requirements.size();
                 from[node] = current;