concept documentation cleanup

base/Lie.h

@@ -14,8 +14,45 @@
  * @brief Base class and basic functions for Lie types
  * @author Richard Roberts
  * @author Alex Cunningham
+ *
+ * The necessary functions to implement for Lie are defined
+ * below with additional details as to the interface.  The
+ * concept checking function in class Lie will check whether or not
+ * the function exists and throw compile-time errors.
+ *
+ * Returns dimensionality of the tangent space
+ * 		inline size_t dim() const;
+ *
+ * Returns Exponential map update of T
+ * A default implementation of expmap(*this, lp) is available:
+ * expmap_default()
+ * 		T expmap(const Vector& v) const;
+ *
+ * expmap around identity
+ * 		static T Expmap(const Vector& v);
+ *
+ * Returns Log map
+ * A default implementation of logmap(*this, lp) is available:
+ * logmap_default()
+ * 		Vector logmap(const T& lp) const;
+ *
+ * Logmap around identity
+ * 		static Vector Logmap(const T& p);
+ *
+ * Compute l0 s.t. l2=l1*l0, where (*this) is l1
+ * A default implementation of between(*this, lp) is available:
+ * between_default()
+ * 		T between(const T& l2) const;
+ *
+ * compose with another object
+ * 		T compose(const T& p) const;
+ *
+ * invert the object and yield a new one
+ * 		T inverse() const;
+ *
  */
 
+
 #pragma once
 
 #include <string>
@@ -31,15 +68,15 @@ namespace gtsam {
 
 	/** Compute l0 s.t. l2=l1*l0 */
 	template<class T>
-  inline T between_default(const T& l1, const T& l2) { return l1.inverse().compose(l2); }
+	inline T between_default(const T& l1, const T& l2) {return l1.inverse().compose(l2);}
 
 	/** Log map centered at l0, s.t. exp(l0,log(l0,lp)) = lp */
 	template<class T>
-  inline Vector logmap_default(const T& l0, const T& lp) { return T::Logmap(l0.between(lp)); }
+	inline Vector logmap_default(const T& l0, const T& lp) {return T::Logmap(l0.between(lp));}
 
 	/** Exponential map centered at l0, s.t. exp(t,d) = t*exp(d) */
 	template<class T>
-  inline T expmap_default(const T& t, const Vector& d) { return t.compose(T::Expmap(d)); }
+	inline T expmap_default(const T& t, const Vector& d) {return t.compose(T::Expmap(d));}
 
 	/**
 	 * Base class for Lie group type
@@ -93,52 +130,6 @@ namespace gtsam {
 			T inverse_ret = t.inverse();
 		}
 
-	  /**
-	   * The necessary functions to implement for Lie are defined
-	   * below with additional details as to the interface.  The
-	   * concept checking function above will check whether or not
-	   * the function exists and throw compile-time errors.
-	   */
-
-
-	  /**
-	   * Returns dimensionality of the tangent space
-	   */
-//	  inline size_t dim() const;
-
-	  /**
-	   * Returns Exponential map update of T
-	   * A default implementation of expmap(*this, lp) is available:
-	   * expmap_default()
-	   */
-//	  T expmap(const Vector& v) const;
-
-	  /** expmap around identity */
-//	  static T Expmap(const Vector& v);
-
-	  /**
-	   * Returns Log map
-	   * A default implementation of logmap(*this, lp) is available:
-	   * logmap_default()
-	   */
-//	  Vector logmap(const T& lp) const;
-
-	  /** Logmap around identity */
-//	  static Vector Logmap(const T& p);
-
-	  /**
-	   * Compute l0 s.t. l2=l1*l0, where (*this) is l1
-	   * A default implementation of between(*this, lp) is available:
-	   * between_default()
-	   */
-//	  T between(const T& l2) const;
-
-	  /** compose with another object */
-//	  inline T compose(const T& p) const;
-
-	  /** invert the object and yield a new one */
-//	  inline T inverse() const;
-
 	};
 
 	/** Call print on the object */

base/Testable.h

@@ -13,6 +13,20 @@
  * @file    Testable
  * @brief   Abstract base class for values that can be used in unit tests
  * @author  Frank Dellaert
+ * 
+ * The necessary functions to implement for Testable are defined
+ * below with additional details as to the interface.
+ * The concept checking function will check whether or not
+ * the function exists in derived class and throw compile-time errors.
+ * 
+ * print with optional string naming the object
+ * 		void print(const std::string& name) const = 0;
+ * 
+ * equality up to tolerance
+ * tricky to implement, see NonlinearFactor1 for an example
+ * equals is not supposed to print out *anything*, just return true|false
+ * 		bool equals(const Derived& expected, double tol) const = 0;
+ * 
  */
 
 // \callgraph
@@ -35,6 +49,10 @@ namespace gtsam {
 	class Testable {
 
 	private:
+		/**
+		 * This concept check is to make sure these methods exist in derived classes
+		 * This is as an alternative to declaring those methods virtual, which is slower
+		 */
 	  static void concept(const Derived& d) {
 	    const Derived *const_derived = static_cast<Derived*>(&d);
 	    const_derived->print(std::string());