From 0a36038de1f7008a7c5aab2d961d83ddf989d18a Mon Sep 17 00:00:00 2001
From: Chris Beall <chrisbeall@gmail.com>
Date: Wed, 8 May 2013 19:44:17 +0000
Subject: [PATCH] documentation

---
 gtsam/nonlinear/NonlinearFactor.h | 6 ++++++
 gtsam/slam/StereoFactor.h         | 1 +
 2 files changed, 7 insertions(+)

diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 0d4633879..8b9b2a5da 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -388,6 +388,7 @@ public:
 
   /**
    *  Constructor
+   *  @param noiseModel shared pointer to noise model
    *  @param key1 by which to look up X value in Values
    */
   NoiseModelFactor1(const SharedNoiseModel& noiseModel, Key key1) :
@@ -455,6 +456,7 @@ public:
 
   /**
    * Constructor
+   * @param noiseModel shared pointer to noise model
    * @param j1 key of the first variable
    * @param j2 key of the second variable
    */
@@ -530,6 +532,7 @@ public:
 
   /**
    * Constructor
+   * @param noiseModel shared pointer to noise model
    * @param j1 key of the first variable
    * @param j2 key of the second variable
    * @param j3 key of the third variable
@@ -607,6 +610,7 @@ public:
 
   /**
    * Constructor
+   * @param noiseModel shared pointer to noise model
    * @param j1 key of the first variable
    * @param j2 key of the second variable
    * @param j3 key of the third variable
@@ -688,6 +692,7 @@ public:
 
   /**
    * Constructor
+   * @param noiseModel shared pointer to noise model
    * @param j1 key of the first variable
    * @param j2 key of the second variable
    * @param j3 key of the third variable
@@ -773,6 +778,7 @@ public:
 
   /**
    * Constructor
+   * @param noiseModel shared pointer to noise model
    * @param j1 key of the first variable
    * @param j2 key of the second variable
    * @param j3 key of the third variable
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index b4a50ad14..5dc8f5b95 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -56,6 +56,7 @@ public:
    * @param poseKey the pose variable key
    * @param landmarkKey the landmark variable key
    * @param K the constant calibration
+   * @param body_P_sensor is the transform from body to sensor frame (default identity)
    */
   GenericStereoFactor(const StereoPoint2& measured, const SharedNoiseModel& model,
       Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr& K,