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Jeongmyung Lee <leeejeongmyung@gmail.com> (#1735) 

Signed-off-by: Jeongmyung Lee <leeejeongmyung@gmail.com>
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docs/source/algo_walkthrough.rst
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@ -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. - 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. 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. Intuitively, those "*global ropes*" introduce knots in the structure and firmly bring two strands closer.
.. code-block:: lua .. code-block:: lua