diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h index bd1d71857..717f49167 100644 --- a/gtsam/inference/EliminateableFactorGraph.h +++ b/gtsam/inference/EliminateableFactorGraph.h @@ -164,20 +164,20 @@ namespace gtsam { const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; - /** Do multifrontal elimination of the given \c variables in an ordering computed by COLAMD to - * produce a Bayes net and a remaining factor graph. This computes the factorization \f$ p(X) - * = p(A|B) p(B) \f$, where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the - * factor graph, and \f$ B = X\backslash A \f$. */ + /** Do multifrontal elimination of some variables, in \c ordering provided, to produce a Bayes + * tree and a remaining factor graph. This computes the factorization \f$ p(X) = p(A|B) p(B) + * \f$, where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the factor graph, and + * \f$ B = X\backslash A \f$. */ std::pair, boost::shared_ptr > eliminatePartialMultifrontal( const Ordering& ordering, const Eliminate& function = EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex = boost::none) const; - /** Do multifrontal elimination of some variables in the given \c ordering to produce a Bayes - * tree and a remaining factor graph. This computes the factorization \f$ p(X) = p(A|B) p(B) - * \f$, where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the factor graph, and - * \f$ B = X\backslash A \f$. */ + /** Do multifrontal elimination of the given \c variables in an ordering computed by COLAMD to + * produce a Bayes net and a remaining factor graph. This computes the factorization \f$ p(X) + * = p(A|B) p(B) \f$, where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the + * factor graph, and \f$ B = X\backslash A \f$. */ std::pair, boost::shared_ptr > eliminatePartialMultifrontal( const std::vector& variables,