From 0d05a1c206868e7781a67826dbbc3d956e0e4c03 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 26 Sep 2014 17:41:43 +0200 Subject: [PATCH] Some doxygen documentation --- gtsam/navigation/MagFactor.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/gtsam/navigation/MagFactor.h b/gtsam/navigation/MagFactor.h index 44f543bc9..0220b9509 100644 --- a/gtsam/navigation/MagFactor.h +++ b/gtsam/navigation/MagFactor.h @@ -37,7 +37,15 @@ class MagFactor: public NoiseModelFactor1 { public: - /** Constructor */ + /** + * Constructor of factor that estimates nav to body rotation bRn + * @param key of the unknown rotation bRn in the factor graph + * @param measured magnetometer reading, a 3-vector + * @param scale by which a unit vector is scaled to yield a magnetometer reading + * @param direction of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm + * @param bias of the magnetometer, modeled as purely additive (after scaling) + * @param model of the additive Gaussian noise that is assumed + */ MagFactor(Key key, const Point3& measured, double scale, const Unit3& direction, const Point3& bias, const SharedNoiseModel& model) :