+1 for closing this issue.

What are our further plans on this? Do we have concrete plans for more
documentation? If not, I suggest closing this.

I added a doxygen configuration file, and a brief description of the planner (in
doc.h).
To generate the documentation run "doxygen Doxyfile".
The output will be in doxygen/html/index.html

Feel free to update/modify/add the documentation.

we need to write some high-level documentation about the role of the key components.