comment for VelocityConstraint3::evaluateError

2013-04-17 21:25:15 +00:00 · 2013-04-17 21:25:15 +00:00 · 541d416c84
parent 494885bf1d
commit 541d416c84
1 changed files with 1 additions and 1 deletions
--- a/gtsam_unstable/dynamics/VelocityConstraint3.h
+++ b/gtsam_unstable/dynamics/VelocityConstraint3.h
@ -36,7 +36,7 @@ public:
    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new VelocityConstraint3(*this))); }

-  /** g(x) with optional derivative2 */
+  /** x1 + v*dt - x2 = 0, with optional derivatives */
  Vector evaluateError(const LieScalar& x1, const LieScalar& x2, const LieScalar& v,
      boost::optional<Matrix&> H1 = boost::none,
      boost::optional<Matrix&> H2 = boost::none,