How to Document Source Code in Apollo

/**
 * @file
 * @brief Defines the templated KalmanFilter class.
 */

/**
 * @namespace apollo::common::math
 * @brief apollo::common::math
 */

namespace apollo {
namespace common {
namespace math {

/**
 * @class KalmanFilter
 *
 * @brief Implements a discrete-time Kalman filter.
 *
 * @param XN dimension of state
 * @param ZN dimension of observations
 * @param UN dimension of controls
 */
template <typename T, unsigned int XN, unsigned int ZN, unsigned int UN>
class KalmanFilter {
 public:
 ...

  /**
   * @brief Sets the initial state belief distribution.
   *
   * @param x Mean of the state belief distribution
   * @param P Covariance of the state belief distribution
   */
  void SetStateEstimate(const Eigen::Matrix<T, XN, 1> &x,
                        const Eigen::Matrix<T, XN, XN> &P) {
    ...
  }

  /**
   * @brief Get initialization state of the filter
   * @return True if the filter is initialized
   */
  bool IsInitialized() const { return is_initialized_; }

 protected:
  /// Mean of current state belief distribution
  Eigen::Matrix<T, XN, 1> x_;