diff --git a/rviz_interface/src/InteractiveObject.cpp b/rviz_interface/src/InteractiveObject.cpp
index 3d2a0df..c6143fe 100644
--- a/rviz_interface/src/InteractiveObject.cpp
+++ b/rviz_interface/src/InteractiveObject.cpp
@@ -8,9 +8,13 @@
 
 unsigned int InteractiveObject::nextObjectID = 1;
 
-/*
- * Constructor.
- * 
+/* Interactive object Constructor.
+ * server : interactiveMarkers server. 
+ * name : name of the object.
+ * frame_id : frame associated to the marker.
+ * type : marker type (Ordinary, Bool, 2D, 3D).
+ * shape : shape of the marker.
+ * position : intial position.
  */
 InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, const std::string& frame_id, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
 {
@@ -33,7 +37,11 @@ InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServe
 	addButtoncontrol();
 }
 
- //Construit un InteractiveMarker
+/* Interactive marker Constructor.
+ * marker : marker on which interaction will be possible.
+ * frame_id : frame associated to the marker.
+ * position : intial position.
+ */
 void InteractiveObject::createInteractiveMarker(Marker& marker, const std::string& frame_id, const tf::Vector3& position)
 {
 	//// Création d'un marker interactif ////
@@ -62,7 +70,10 @@ void InteractiveObject::createInteractiveMarker(Marker& marker, const std::strin
 	_server->applyChanges();
 }
 
-//Fonction callback du serveur d' InteractiveMarker
+/* Callback function used by the InteractiveMarkerServer to update markers.
+ * Handle objective publishing.
+ * feedback : feedback containing the interaction with the marker.
+ */
 void InteractiveObject::processFeedback( const InteractiveMarkerFeedbackConstPtr &feedback )
 {
 	_followObject = false; //Objet manipulé -> on les libèrent
@@ -106,7 +117,8 @@ void InteractiveObject::processFeedback( const InteractiveMarkerFeedbackConstPtr
 	updateVisuals();
 }
 
-//Ajoute une fonction bouton
+/* Add a Button interaction to the marker.
+ */
 void InteractiveObject::addButtoncontrol()
 {
 	//// Ajout d'interactions ////
@@ -123,7 +135,8 @@ void InteractiveObject::addButtoncontrol()
 	_server->applyChanges();
 }
 
-//Ajoute des controle pour 6DOF (Déplacement dans l'espace)
+/* Add a 6 Degrees of Freedom control to the marker allowing it to be moved in 3D.
+ */
 void InteractiveObject::add6DOFcontrol()
 {
 	//// Ajout d'interactions ////
@@ -179,7 +192,9 @@ void InteractiveObject::add6DOFcontrol()
 	_server->applyChanges();
 }
 
-//Ajoute des controle pour 3DOF (Déplacement dans le plan x/z)
+
+/* Add a 3 Degrees of Freedom control to the marker allowing it to be moved in the X/Z plan.
+ */
 void InteractiveObject::add3DOFcontrol()
 {
 	//// Ajout d'interactions ////
@@ -226,7 +241,9 @@ void InteractiveObject::add3DOFcontrol()
 	_server->applyChanges();
 }
 
-//Ajoute des controle pour 3DOF (Déplacement dans le plan)
+/* Add a 3 Degrees of Freedom control to the marker allowing it to be moved in a plan.
+ * normal : normal vector defining a plan.
+ */
 void InteractiveObject::add3DOFcontrol(const tf::Vector3& normal)
 {
 	//// Ajout d'interactions ////
@@ -254,7 +271,9 @@ void InteractiveObject::add3DOFcontrol(const tf::Vector3& normal)
 	_server->applyChanges();
 }
 
-//Met à jour la zone d'erreur
+/* Set the error area.
+ * error : new error margin.
+ */
 void InteractiveObject::setErrorArea(double error)
 {
 	_showVisuals = true;
@@ -264,7 +283,9 @@ void InteractiveObject::setErrorArea(double error)
 	updateVisuals();
 }
 
-//Déplace le marker à une position donnée
+/* Move the marker to a new position.
+ * new_pos : new position of the marker. 
+ */
 void InteractiveObject::moveTo(const tf::Vector3& new_pos)
 {
 	tf::pointTFToMsg(new_pos, _int_marker.pose.position);
@@ -274,7 +295,8 @@ void InteractiveObject::moveTo(const tf::Vector3& new_pos)
 	updateVisuals();
 }
 
-//Ajoute des infos visuelles (Zone d'erreur)
+/* Add visualization informations (Error Margin).
+ */
 void InteractiveObject::addVisuals()
 {
 	// Set the frame ID and timestamp.  See the TF tutorials for information on these.
@@ -302,7 +324,8 @@ void InteractiveObject::addVisuals()
 	}
 }
 
-//Rafraichis les infos visuelles
+/* Update the visualization informations.
+ */
 void InteractiveObject::updateVisuals()
 {
 	// ROS_INFO_STREAM("Update visuals");
diff --git a/rviz_interface/src/InteractiveObject.hpp b/rviz_interface/src/InteractiveObject.hpp
index 43b080d..cc1ffde 100644
--- a/rviz_interface/src/InteractiveObject.hpp
+++ b/rviz_interface/src/InteractiveObject.hpp
@@ -36,35 +36,29 @@ protected:
 	ros::Publisher* _visual_pub;
 
 public:
+	//Interactive object Constructor.
 	InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, const std::string& frame_id, unsigned int type, unsigned int shape, const tf::Vector3& position = tf::Vector3(0,0,0));
 
-	//Construit un InteractiveMarker
+	//Interactive marker Constructor.
 	void createInteractiveMarker(Marker& marker, const std::string& frame_id, const tf::Vector3& position = tf::Vector3(0,0,0));
 
-	//Fonction callback du serveur d' InteractiveMarker
+	//Callback function used by the InteractiveMarkerServer to update markers.
 	void processFeedback( const InteractiveMarkerFeedbackConstPtr &feedback );
 	
-	//Ajoute une fonction bouton
-	void addButtoncontrol();
-	//Ajoute des controle pour 6DOF (Déplacement dans l'espace)
-	void add6DOFcontrol();
-	//Ajoute des controle pour 3DOF (Déplacement dans le plan x/z)
-	void add3DOFcontrol();
-	//Ajoute des controle pour 3DOF (Déplacement dans le plan)
-	void add3DOFcontrol(const tf::Vector3& normal);
+	//Controls
+	void addButtoncontrol(); //Add a Button interaction to the marker.
+	void add3DOFcontrol(); //Add a 3 Degrees of Freedom control to the marker allowing it to be moved in the X/Z plan.
+	void add3DOFcontrol(const tf::Vector3& normal); //Add a 3 Degrees of Freedom control to the marker allowing it to be moved in a plan.
+	void add6DOFcontrol(); //Add a 6 Degrees of Freedom control to the marker allowing it to be moved in 3D.
 
-	//Ajoute des infos visuelles (Zone d'erreur)
-	void addVisuals();
-	//Rafraichis les infos visuelles
-	void updateVisuals();
-
-	//Met à jour la zone d'erreur
-	void setErrorArea(double error);
-
-	//Déplace le marker à une position donnée
-	void moveTo(const tf::Vector3& new_pos);
+	//Visuals
+	void addVisuals(); //Add visualization informations (Error Margin).
+	void updateVisuals(); //Update the visualization informations.
 
 	//Accesseurs
+	void setErrorArea(double error); //Set the error area.
+	void moveTo(const tf::Vector3& new_pos); //Move the marker to a new position.
+
 	const std::string& name() const{ return _name;}
 	void setObjectivePublisher(ros::Publisher* objective_pub){ _objective_pub=objective_pub;}
 	void setVisualizationPublisher(ros::Publisher* visualization_pub){ _visual_pub=visualization_pub;}
diff --git a/rviz_interface/src/InterfacePanel.cpp b/rviz_interface/src/InterfacePanel.cpp
index e35cb88..b758482 100644
--- a/rviz_interface/src/InterfacePanel.cpp
+++ b/rviz_interface/src/InterfacePanel.cpp
@@ -9,6 +9,9 @@
 namespace rviz_interface
 {
 
+/* Constructor
+ * parent : QT widget parent.
+ */
 InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
 {
   QHBoxLayout* error_layout = new QHBoxLayout;
@@ -40,13 +43,16 @@ InterfacePanel::InterfacePanel( QWidget* parent ): rviz::Panel( parent )
   _config_publisher = _nh.advertise<rviz_interface::InterfaceConfig>( "/RvizInterface/interface_config", 1 );
 }
 
+/* Destructor
+ */
 InterfacePanel::~InterfacePanel()
 {
   delete _max_error_editor;
   delete _objective_type_editor;
 }
 
-//Update the error in the current_configuration & publish the configuration.
+/* Update the error in the current_configuration & publish the configuration.
+ */
 void InterfacePanel::updateError()
 {
   current_config.max_error = _max_error_editor->text().toDouble();
@@ -57,7 +63,9 @@ void InterfacePanel::updateError()
   }
 }
 
-//Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
+/* Update the objective type (ie Precise or not) in the current_configuration & publish the configuration.
+ * state : New objective type (1 : Precise).
+ */
 void InterfacePanel::updateType(int state)
 {
   current_config.objective_type = state;
@@ -76,7 +84,9 @@ void InterfacePanel::updateType(int state)
   }
 }
 
-//Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
+/* Update the visual flag (ie Show visuals or not) in the current_configuration & publish the configuration.
+ * state : Visual flag (1 : Show visuals).
+ */
 void InterfacePanel::updateVisuals(int state)
 {
   current_config.show_visuals = state;
@@ -86,7 +96,8 @@ void InterfacePanel::updateVisuals(int state)
   }
 }
 
-//Send a signal through the configuration telling the subscriber to follow the object it's linked to.
+/* Send a signal through the configuration telling the subscriber to follow the object it's linked to.
+*/
 void InterfacePanel::handleResetButton()
 {
   current_config.follow_object = true;
diff --git a/rviz_interface/src/RvizInterface.cpp b/rviz_interface/src/RvizInterface.cpp
index 1355871..34d2471 100644
--- a/rviz_interface/src/RvizInterface.cpp
+++ b/rviz_interface/src/RvizInterface.cpp
@@ -7,8 +7,7 @@
 
 #include "RvizInterface.hpp"
 
-/*
- * Constructor.
+/* Constructor.
  * Launch the Rviz Interface with on the parameters from the launch file.
  * server_topic : Topic name of the interactive markers server.
  */
@@ -88,7 +87,7 @@ RvizInterface::RvizInterface(const std::string & server_topic): _server(server_t
 	}
 }
 
-//Destructeur
+//Destructor
 RvizInterface::~RvizInterface()
 {
 	for(unsigned int i=0;i<_objects.size();i++)
@@ -97,7 +96,11 @@ RvizInterface::~RvizInterface()
 	}
 }
 
-//Fonction Callback du panel Rviz gérant les configurations
+
+/* Callback function for the Rviz panel handling configuration changes.
+ * new_config : ROS message containing the new configuration.
+ * @see InterfaceConfig.msg
+ */
 void RvizInterface::configCallback(const rviz_interface::InterfaceConfig & new_config)
 {
 	for(unsigned int i=0;i<_objects.size();i++)
@@ -113,23 +116,10 @@ void RvizInterface::configCallback(const rviz_interface::InterfaceConfig & new_c
 	}
 }
 
-//Fonction callback gérant la position de l'objet
-//PROVISOIRE : Pour un seul objet avec test PCL
-// void RvizInterface::positionCallback(const geometry_msgs::PointStamped & new_center)
-// {
-// 	//Synchro des frames
-// 	_objects[0]->int_marker().header.frame_id = new_center.header.frame_id;
-// 	_objects[0]->err_marker().header.frame_id = new_center.header.frame_id;
-
-// 	if(_objects[0]->isFollowing()) //Le marqueur suit l'objet
-// 	{
-// 		//Deplacement du marqueur
-// 		tf::Vector3 position = tf::Vector3(new_center.point.x,new_center.point.y,new_center.point.z);
-// 		_objects[0]->moveTo(position);
-// 	}
-// }
-
-//Fonction callback gérant la position des objets
+/* Callback function handling the position updates of markers.
+ * new_center : ROS message containing the current position of an object.
+ * @see : NamedPoint.msg
+ */
 void RvizInterface::positionCallback(const rviz_interface::NamedPoint & new_center)
 {
 	for(unsigned int i=0;i<_objects.size();i++)
diff --git a/rviz_interface/src/RvizInterface.hpp b/rviz_interface/src/RvizInterface.hpp
index 33506bd..c4e4890 100644
--- a/rviz_interface/src/RvizInterface.hpp
+++ b/rviz_interface/src/RvizInterface.hpp
@@ -39,14 +39,11 @@ protected:
 	std::vector<InteractiveObject*> _objects;
 
 public: 
-	RvizInterface(const std::string & server_topic);
-	~RvizInterface();
+	RvizInterface(const std::string & server_topic); //Constructor
+	~RvizInterface(); //Destructor
 
-	//Fonction Callback du panel Rviz gérant les configurations
-	void configCallback(const rviz_interface::InterfaceConfig & new_config);
-
-	//Fonction callback gérant la position des objets
-	void positionCallback(const rviz_interface::NamedPoint & new_center);
+	void configCallback(const rviz_interface::InterfaceConfig & new_config); //Callback function for the Rviz panel handling configuration changes.
+	void positionCallback(const rviz_interface::NamedPoint & new_center); //Callback function handling the position updates of markers.
 };
 
 #endif
\ No newline at end of file