DOCUMENT IT

script/fall_detector.py

@@ -1,4 +1,5 @@
 #! /usr/bin/env python
+"""A module for graceful fall handling."""
 import os
 
 import rospy
@@ -15,6 +16,7 @@ _inform_masterloop = inform_masterloop_factory('fall_detector')
 
 
 class FallDetectorModule(ALModule):
+    """An ALModule responsible for fall handling."""
 
     def __init__(self, name):
         ALModule.__init__(self, name)
@@ -23,7 +25,7 @@ class FallDetectorModule(ALModule):
         _inform_masterloop('falling')
 
     def on_robot_fallen(self, *_args):
-        if not _inform_masterloop('fallen'):
+        if not _inform_masterloop('fallen'):  # Seize the control
             return
         mp.rest()
         rospy.Rate(0.5).sleep()
@@ -32,9 +34,10 @@ class FallDetectorModule(ALModule):
         am.setExpressiveListeningEnabled(False)
         pp = ALProxy('ALRobotPosture')
         while not pp.goToPosture('StandInit', 1.0):
+            # Try to stand up indefinetely
             pass
         rospy.Rate(1).sleep()
-        _inform_masterloop('recovered')
+        _inform_masterloop('recovered')  # Release the control
 
 
 if __name__ == "__main__":