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release/4.3a0
Frank Dellaert 2012-06-05 05:08:56 +00:00
parent 76a9e651cb
commit 22e71e4374
2 changed files with 2 additions and 2 deletions
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2
gtsam/nonlinear/NonlinearFactor.h
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@ -118,7 +118,7 @@ public:
/** /**
* Calculate the error of the factor * Calculate the error of the factor
* This is typically equal to log-likelihood, e.g. 0.5(h(x)-z)^2/sigma^2 in case of Gaussian. * This is typically equal to log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/sigma^2 \f$ in case of Gaussian.
* You can override this for systems with unusual noise models. * You can override this for systems with unusual noise models.
*/ */
virtual double error(const Values& c) const = 0; virtual double error(const Values& c) const = 0;

2
gtsam/nonlinear/NonlinearFactorGraph.h
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@ -49,7 +49,7 @@ namespace gtsam {
/** return keys in some random order */ /** return keys in some random order */
std::set<Key> keys() const; std::set<Key> keys() const;
/** unnormalized error */ /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */
double error(const Values& c) const; double error(const Values& c) const;
/** Unnormalized probability. O(n) */ /** Unnormalized probability. O(n) */