chore(docs): commenting pass on Planner::make_plan

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{};
+    FromMap from{}; // mapping states to the previous in the path
-    ScoreMap dist_traveled{};
+    ScoreMap dist_traveled{}; // mapping states to the shortest found distance from start
-    ScoreMap best_guess{};
     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;