From 55ae901d45af9290300b618501eefd3f260d4ea8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Jul 2022 16:25:41 -0400
Subject: [PATCH] change from addtogroup to ingroup

---
 gtsam/basis/Basis.h                  | 7 ++++++-
 gtsam/basis/BasisFactors.h           | 6 ++++++
 gtsam/geometry/Cal3.h                | 4 ++--
 gtsam/geometry/Cal3Bundler.h         | 2 +-
 gtsam/geometry/Cal3DS2.h             | 2 +-
 gtsam/geometry/Cal3DS2_Base.h        | 2 +-
 gtsam/geometry/Cal3Fisheye.h         | 2 +-
 gtsam/geometry/Cal3Unified.h         | 4 ++--
 gtsam/geometry/Cal3_S2.h             | 4 ++--
 gtsam/geometry/Cal3_S2Stereo.h       | 2 +-
 gtsam/geometry/CalibratedCamera.h    | 4 ++--
 gtsam/geometry/Line3.h               | 2 +-
 gtsam/geometry/PinholeCamera.h       | 2 +-
 gtsam/geometry/PinholePose.h         | 4 ++--
 gtsam/geometry/Pose2.h               | 2 +-
 gtsam/geometry/Pose3.h               | 2 +-
 gtsam/geometry/Rot2.h                | 2 +-
 gtsam/geometry/Rot3.h                | 2 +-
 gtsam/geometry/SphericalCamera.h     | 4 ++--
 gtsam/geometry/StereoCamera.h        | 2 +-
 gtsam/geometry/StereoPoint2.h        | 2 +-
 gtsam/navigation/AttitudeFactor.h    | 6 +++---
 gtsam/navigation/BarometricFactor.h  | 2 +-
 gtsam/navigation/CombinedImuFactor.h | 4 ++--
 gtsam/navigation/GPSFactor.h         | 4 ++--
 gtsam/sfm/MFAS.h                     | 2 +-
 gtsam/sfm/SfmData.h                  | 2 +-
 gtsam/sfm/SfmTrack.h                 | 2 +-
 gtsam/sfm/TranslationFactor.h        | 2 +-
 29 files changed, 49 insertions(+), 38 deletions(-)

diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 765a2f645..5664fe02a 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -78,6 +78,8 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  * @tparam M Size of the identity matrix.
  * @param w The weights of the polynomial.
  * @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I]
+ *
+ * @ingroup Basis
  */
 template <size_t M>
 Matrix kroneckerProductIdentity(const Weights& w) {
@@ -90,7 +92,10 @@ Matrix kroneckerProductIdentity(const Weights& w) {
   return result;
 }
 
-/// CRTP Base class for function bases
+/**
+ * CRTP Base class for function bases
+ *  @ingroup Basis
+ */
 template <typename DERIVED>
 class Basis {
  public:
diff --git a/gtsam/basis/BasisFactors.h b/gtsam/basis/BasisFactors.h
index 648bcd510..e141592d6 100644
--- a/gtsam/basis/BasisFactors.h
+++ b/gtsam/basis/BasisFactors.h
@@ -32,6 +32,8 @@ namespace gtsam {
  *
  * Example, degree 8 Chebyshev polynomial measured at x=0.5:
  *  EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5);
+ *
+ * @ingroup Basis
  */
 template <class BASIS>
 class EvaluationFactor : public FunctorizedFactor<double, Vector> {
@@ -86,6 +88,8 @@ class EvaluationFactor : public FunctorizedFactor<double, Vector> {
  *
  * @param BASIS: The basis class to use e.g. Chebyshev2
  * @param M: Size of the evaluated state vector.
+ *
+ * @ingroup Basis
  */
 template <class BASIS, int M>
 class VectorEvaluationFactor
@@ -149,6 +153,8 @@ class VectorEvaluationFactor
  *  VectorComponentFactor<BASIS, P> controlPrior(key, measured, model,
  *                                               N, i, t, a, b);
  *  where N is the degree and i is the component index.
+ *
+ * @ingroup Basis
  */
 template <class BASIS, size_t P>
 class VectorComponentFactor
diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index 1690615dd..25acc11f8 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -16,7 +16,7 @@
  */
 
 /**
- * @addtogroup geometry
+ * @ingroup geometry
  */
 
 #pragma once
@@ -63,7 +63,7 @@ void calibrateJacobians(const Cal& calibration, const Point2& pn,
 
 /**
  * @brief Common base class for all calibration models.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3 {
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 82b5ec91d..c8e0fe381 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -26,7 +26,7 @@ namespace gtsam {
 
 /**
  * @brief Calibration used by Bundler
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3Bundler : public Cal3 {
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 039497cc9..cc406d331 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * @brief Calibration of a camera with radial distortion that also supports
  * Lie-group behaviors for optimization.
  * \sa Cal3DS2_Base
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
diff --git a/gtsam/geometry/Cal3DS2_Base.h b/gtsam/geometry/Cal3DS2_Base.h
index 1b2291e07..f901de9a9 100644
--- a/gtsam/geometry/Cal3DS2_Base.h
+++ b/gtsam/geometry/Cal3DS2_Base.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * @brief Calibration of a camera with radial distortion
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  *
  * Uses same distortionmodel as OpenCV, with
diff --git a/gtsam/geometry/Cal3Fisheye.h b/gtsam/geometry/Cal3Fisheye.h
index c0caecaa1..a314acb5e 100644
--- a/gtsam/geometry/Cal3Fisheye.h
+++ b/gtsam/geometry/Cal3Fisheye.h
@@ -30,7 +30,7 @@ namespace gtsam {
 
 /**
  * @brief Calibration of a fisheye camera
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  *
  * Uses same distortionmodel as OpenCV, with
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index e93d313c8..83024c0ce 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -18,7 +18,7 @@
  */
 
 /**
- * @addtogroup geometry
+ * @ingroup geometry
  */
 
 #pragma once
@@ -30,7 +30,7 @@ namespace gtsam {
 /**
  * @brief Calibration of a omni-directional camera with mirror + lens radial
  * distortion
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  *
  * Similar to Cal3DS2, does distortion but has additional mirror parameter xi
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 93b98a7e1..10061fae8 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -16,7 +16,7 @@
  */
 
 /**
- * @addtogroup geometry
+ * @ingroup geometry
  */
 
 #pragma once
@@ -28,7 +28,7 @@ namespace gtsam {
 
 /**
  * @brief The most common 5DOF 3D->2D calibration
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3_S2 : public Cal3 {
diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h
index ad66b53ff..ddd96bf17 100644
--- a/gtsam/geometry/Cal3_S2Stereo.h
+++ b/gtsam/geometry/Cal3_S2Stereo.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
 /**
  * @brief The most common 5DOF 3D->2D calibration, stereo version
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 1d4a379a1..941ed3ffc 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -46,7 +46,7 @@ private:
 
 /**
  * A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT PinholeBase {
@@ -241,7 +241,7 @@ private:
  * A Calibrated camera class [R|-R't], calibration K=I.
  * If calibration is known, it is more computationally efficient
  * to calibrate the measurements rather than try to predict in pixels.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT CalibratedCamera: public PinholeBase {
diff --git a/gtsam/geometry/Line3.h b/gtsam/geometry/Line3.h
index 78827274a..08b81eaef 100644
--- a/gtsam/geometry/Line3.h
+++ b/gtsam/geometry/Line3.h
@@ -38,7 +38,7 @@ GTSAM_EXPORT Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
 
 /**
  * A 3D line (R,a,b) : (Rot3,Scalar,Scalar)
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Line3 {
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index c20e90819..e3817dc89 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -26,7 +26,7 @@ namespace gtsam {
 /**
  * A pinhole camera class that has a Pose3 and a Calibration.
  * Use PinholePose if you will not be optimizing for Calibration
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 template<typename Calibration>
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 7b92be5d5..f14219930 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * A pinhole camera class that has a Pose3 and a *fixed* Calibration.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 template<typename CALIBRATION>
@@ -236,7 +236,7 @@ public:
  * A pinhole camera class that has a Pose3 and a *fixed* Calibration.
  * Instead of using this class, one might consider calibrating the measurements
  * and using CalibratedCamera, which would then be faster.
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 template<typename CALIBRATION>
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 466c5a42a..2f18cee83 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -30,7 +30,7 @@ namespace gtsam {
 
 /**
  * A 2D pose (Point2,Rot2)
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class Pose2: public LieGroup<Pose2, 3> {
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 711829425..9114efd72 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -31,7 +31,7 @@ class Pose2;
 
 /**
  * A 3D pose (R,t) : (Rot3,Point3)
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index b0b7fd52a..9b3402b01 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -30,7 +30,7 @@ namespace gtsam {
   /**
    * Rotation matrix
    * NOTE: the angle theta is in radians unless explicitly stated
-   * @addtogroup geometry
+   * @ingroup geometry
    * \nosubgrouping
    */
   class GTSAM_EXPORT Rot2 : public LieGroup<Rot2, 1> {
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 09abb70bc..be025d028 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -53,7 +53,7 @@ namespace gtsam {
  * @brief Rot3 is a 3D rotation represented as a rotation matrix if the
  * preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion
  * if it is defined.
- * @addtogroup geometry
+ * @ingroup geometry
  */
 class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
  private:
diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index dc9e4bbde..0ca391520 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -34,7 +34,7 @@ namespace gtsam {
  * Empty calibration. Only needed to play well with other cameras
  * (e.g., when templating functions wrt cameras), since other cameras
  * have constuctors in the form ‘camera(pose,calibration)’
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT EmptyCal {
@@ -64,7 +64,7 @@ class GTSAM_EXPORT EmptyCal {
 /**
  * A spherical camera class that has a Pose3 and measures bearing vectors.
  * The camera has an ‘Empty’ calibration and the only 6 dof are the pose
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT SphericalCamera {
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index c53fc11c9..603476278 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -42,7 +42,7 @@ private:
 
 /**
  * A stereo camera class, parameterize by left camera pose and stereo calibration
- * @addtogroup geometry
+ * @ingroup geometry
  */
 class GTSAM_EXPORT StereoCamera {
 
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 9eef01577..7e34565f7 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -26,7 +26,7 @@ namespace gtsam {
 
 /**
  * A 2D stereo point, v will be same for rectified images
- * @addtogroup geometry
+ * @ingroup geometry
  * \nosubgrouping
  */
 class GTSAM_EXPORT StereoPoint2 {
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index 490c8b17f..e8da541b1 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * - measurement is direction of gravity in body frame bF
  * - reference is direction of gravity in navigation frame nG
  * This factor will give zero error if nRb * bF == nG
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class AttitudeFactor {
 
@@ -74,7 +74,7 @@ public:
 
 /**
  * Version of AttitudeFactor for Rot3
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactor1<Rot3>, public AttitudeFactor {
 
@@ -147,7 +147,7 @@ template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFacto
 
 /**
  * Version of AttitudeFactor for Pose3
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactor1<Pose3>,
     public AttitudeFactor {
diff --git a/gtsam/navigation/BarometricFactor.h b/gtsam/navigation/BarometricFactor.h
index e7bf6f998..b570049a5 100644
--- a/gtsam/navigation/BarometricFactor.h
+++ b/gtsam/navigation/BarometricFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * Model with a slowly moving bias to capture differences
  * between the height and the standard atmosphere
  * https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT BarometricFactor : public NoiseModelFactor2<Pose3, double> {
    private:
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 54c5a7dbb..4330a023a 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -123,7 +123,7 @@ public:
  * it is received from the IMU) so as to avoid costly integration at time of
  * factor construction.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType {
 
@@ -252,7 +252,7 @@ public:
  *    the correlation between the bias uncertainty and the preintegrated
  *    measurements uncertainty.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3,
     Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {
diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h
index 8fcf0f099..40d0ef22a 100644
--- a/gtsam/navigation/GPSFactor.h
+++ b/gtsam/navigation/GPSFactor.h
@@ -30,7 +30,7 @@ namespace gtsam {
  *   NED: North-East-Down navigation frame at some local origin
  *   ECEF: Earth-centered Earth-fixed, origin at Earth's center
  * See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT GPSFactor: public NoiseModelFactor1<Pose3> {
 
@@ -108,7 +108,7 @@ private:
 
 /**
  * Version of GPSFactor for NavState
- * @addtogroup Navigation
+ * @ingroup navigation
  */
 class GTSAM_EXPORT GPSFactor2: public NoiseModelFactor1<NavState> {
 
diff --git a/gtsam/sfm/MFAS.h b/gtsam/sfm/MFAS.h
index 151b318ad..3595673a3 100644
--- a/gtsam/sfm/MFAS.h
+++ b/gtsam/sfm/MFAS.h
@@ -46,7 +46,7 @@ namespace gtsam {
   i.e w_aZb is the unit translation from a to b expressed in the world
   coordinate frame. The weights for the edges are obtained by projecting the
   unit translations in a projection direction.
-  @addtogroup SFM
+  @ingroup sfm
 */
 class GTSAM_EXPORT MFAS {
  public:
diff --git a/gtsam/sfm/SfmData.h b/gtsam/sfm/SfmData.h
index 430e107ad..f445d74da 100644
--- a/gtsam/sfm/SfmData.h
+++ b/gtsam/sfm/SfmData.h
@@ -34,7 +34,7 @@ typedef PinholeCamera<Cal3Bundler> SfmCamera;
 
 /**
  * @brief SfmData stores a bunch of SfmTracks
- * @addtogroup sfm
+ * @ingroup sfm
  */
 struct GTSAM_EXPORT SfmData {
   std::vector<SfmCamera> cameras;  ///< Set of cameras
diff --git a/gtsam/sfm/SfmTrack.h b/gtsam/sfm/SfmTrack.h
index 37731b32a..ab084aca9 100644
--- a/gtsam/sfm/SfmTrack.h
+++ b/gtsam/sfm/SfmTrack.h
@@ -36,7 +36,7 @@ typedef std::pair<size_t, size_t> SiftIndex;
 
 /**
  * @brief An SfmTrack stores SfM measurements grouped in a track
- * @addtogroup sfm
+ * @ingroup sfm
  */
 struct GTSAM_EXPORT SfmTrack {
   Point3 p;       ///< 3D position of the point
diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index d1f85cf01..735746b3a 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -35,7 +35,7 @@ namespace gtsam {
  * ambient world coordinate frame:
  *    normalized(Tb - Ta) - w_aZb.point3()
  *
- * @addtogroup SFM
+ * @ingroup sfm
  * 
  * 
  */