From 07faa3961feb4023ded408e13a526390324e084c Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 16 May 2019 21:06:09 -0400
Subject: [PATCH] Fixed obsolete comments

---
 gtsam/nonlinear/DoglegOptimizer.h                    |  6 +++---
 gtsam/nonlinear/GaussNewtonOptimizer.h               |  6 +++---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.h        |  6 +++---
 .../nonlinear/NonlinearConjugateGradientOptimizer.h  |  9 +++++++++
 gtsam/nonlinear/NonlinearOptimizer.h                 | 12 ++++++------
 5 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h
index 51e6b08cc..1fa25fd60 100644
--- a/gtsam/nonlinear/DoglegOptimizer.h
+++ b/gtsam/nonlinear/DoglegOptimizer.h
@@ -105,9 +105,9 @@ public:
   /** Virtual destructor */
   virtual ~DoglegOptimizer() {}
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   GaussianFactorGraph::shared_ptr iterate() override;
 
diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h
index a0e7aee78..a436597e5 100644
--- a/gtsam/nonlinear/GaussNewtonOptimizer.h
+++ b/gtsam/nonlinear/GaussNewtonOptimizer.h
@@ -70,9 +70,9 @@ public:
   /** Virtual destructor */
   virtual ~GaussNewtonOptimizer() {}
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   GaussianFactorGraph::shared_ptr iterate() override;
 
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
index f1135d2f0..2f09f234d 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
@@ -94,9 +94,9 @@ public:
   /// @name Advanced interface
   /// @{
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   GaussianFactorGraph::shared_ptr iterate() override;
 
diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
index fa39d2097..0486c1f29 100644
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
@@ -70,7 +70,16 @@ public:
   virtual ~NonlinearConjugateGradientOptimizer() {
   }
 
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
+   */
   GaussianFactorGraph::shared_ptr iterate() override;
+
+  /** 
+   * Optimize for the maximum-likelihood estimate, returning a the optimized 
+   * variable assignments.
+   */
   const Values& optimize() override;
 };
 
diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h
index edc62ae48..103c231be 100644
--- a/gtsam/nonlinear/NonlinearOptimizer.h
+++ b/gtsam/nonlinear/NonlinearOptimizer.h
@@ -86,9 +86,9 @@ public:
   /// @name Standard interface
   /// @{
 
-  /** Optimize for the maximum-likelihood estimate, returning a new
-   * NonlinearOptimizer class containing the optimized variable assignments,
-   * which may be retrieved with values().
+  /** 
+   * Optimize for the maximum-likelihood estimate, returning a the optimized 
+   * variable assignments.
    *
    * This function simply calls iterate() in a loop, checking for convergence
    * with check_convergence().  For fine-grain control over the optimization
@@ -126,9 +126,9 @@ public:
   virtual VectorValues solve(const GaussianFactorGraph &gfg,
       const NonlinearOptimizerParams& params) const;
 
-  /** Perform a single iteration, returning a new NonlinearOptimizer class
-   * containing the updated variable assignments, which may be retrieved with
-   * values().
+  /** 
+   * Perform a single iteration, returning GaussianFactorGraph corresponding to 
+   * the linearized factor graph.
    */
   virtual GaussianFactorGraph::shared_ptr iterate() = 0;