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Update algo_walkthrough.rst (#1545) 

Fix typos.

Signed-off-by: zhenzhenxiang <405090724@163.com>
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zhenzhenxiang 2020-11-11 20:46:46 +08:00 committed by GitHub
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@ -276,9 +276,9 @@ The resulting net is called the "*pose graph*".
Constraints can be visualized in RViz, it is very handy to tune global SLAM. One can also toggle ``POSE_GRAPH.constraint_builder.log_matches`` to get regular reports of the constraints builder formatted as histograms. Constraints can be visualized in RViz, it is very handy to tune global SLAM. One can also toggle ``POSE_GRAPH.constraint_builder.log_matches`` to get regular reports of the constraints builder formatted as histograms.
- Non-global constraints (also known as inter 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 intra 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 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).
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