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Some doxygen documentation

release/4.3a0
dellaert 2014-09-26 17:41:43 +02:00
parent 1013ba83c9
commit 0d05a1c206
1 changed files with 9 additions and 1 deletions
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10
gtsam/navigation/MagFactor.h
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@ -37,7 +37,15 @@ class MagFactor: public NoiseModelFactor1<Rot2> {
public: 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, MagFactor(Key key, const Point3& measured, double scale,
const Unit3& direction, const Point3& bias, const Unit3& direction, const Point3& bias,
const SharedNoiseModel& model) : const SharedNoiseModel& model) :