From 3fef3e6ecadc5192cabf382319c35af602a5d3d7 Mon Sep 17 00:00:00 2001 From: jeongmyunglee <106604842+jeongmyunglee@users.noreply.github.com> Date: Tue, 13 Sep 2022 21:32:25 +0900 Subject: [PATCH] Jeongmyung Lee (#1735) Signed-off-by: Jeongmyung Lee --- docs/source/algo_walkthrough.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/algo_walkthrough.rst b/docs/source/algo_walkthrough.rst index 42b056a..508e0f6 100644 --- a/docs/source/algo_walkthrough.rst +++ b/docs/source/algo_walkthrough.rst @@ -278,7 +278,7 @@ The resulting net is called the "*pose graph*". - Non-global constraints (also known as intra submaps constraints) are built automatically between nodes that are closely following each other on a trajectory. Intuitively, those "*non-global ropes*" keep the local structure of the trajectory coherent. -- Global constraints (also referred to as loop closure constraints or inter submaps contraints) are regularly searched between a new submap and previous nodes that are considered "*close enough*" in space (part of a certain **search window**) and a strong fit (a good match when running scan matching). +- Global constraints (also referred to as loop closure constraints or inter submaps constraints) are regularly searched between a new submap and previous nodes that are considered "*close enough*" in space (part of a certain **search window**) and a strong fit (a good match when running scan matching). Intuitively, those "*global ropes*" introduce knots in the structure and firmly bring two strands closer. .. code-block:: lua