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comment for VelocityConstraint3::evaluateError

release/4.3a0
Duy-Nguyen Ta 2013-04-17 21:25:15 +00:00
parent 494885bf1d
commit 541d416c84
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/dynamics/VelocityConstraint3.h
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@ -36,7 +36,7 @@ public:
return boost::static_pointer_cast<gtsam::NonlinearFactor>( return boost::static_pointer_cast<gtsam::NonlinearFactor>(
gtsam::NonlinearFactor::shared_ptr(new VelocityConstraint3(*this))); } 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, Vector evaluateError(const LieScalar& x1, const LieScalar& x2, const LieScalar& v,
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none, boost::optional<Matrix&> H2 = boost::none,