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change from addtogroup to ingroup

release/4.3a0
Varun Agrawal 2022-07-26 16:25:41 -04:00
parent fd839e71b6
commit 55ae901d45
29 changed files with 49 additions and 38 deletions
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7
gtsam/basis/Basis.h
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@ -78,6 +78,8 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
* @tparam M Size of the identity matrix. * @tparam M Size of the identity matrix.
* @param w The weights of the polynomial. * @param w The weights of the polynomial.
* @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I] * @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I]
*
* @ingroup Basis
*/ */
template <size_t M> template <size_t M>
Matrix kroneckerProductIdentity(const Weights& w) { Matrix kroneckerProductIdentity(const Weights& w) {
@ -90,7 +92,10 @@ Matrix kroneckerProductIdentity(const Weights& w) {
return result; return result;
} }
/// CRTP Base class for function bases /**
* CRTP Base class for function bases
* @ingroup Basis
*/
template <typename DERIVED> template <typename DERIVED>
class Basis { class Basis {
public: public:

6
gtsam/basis/BasisFactors.h
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@ -32,6 +32,8 @@ namespace gtsam {
* *
* Example, degree 8 Chebyshev polynomial measured at x=0.5: * Example, degree 8 Chebyshev polynomial measured at x=0.5:
* EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5); * EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5);
*
* @ingroup Basis
*/ */
template <class BASIS> template <class BASIS>
class EvaluationFactor : public FunctorizedFactor<double, Vector> { 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 BASIS: The basis class to use e.g. Chebyshev2
* @param M: Size of the evaluated state vector. * @param M: Size of the evaluated state vector.
*
* @ingroup Basis
*/ */
template <class BASIS, int M> template <class BASIS, int M>
class VectorEvaluationFactor class VectorEvaluationFactor
@ -149,6 +153,8 @@ class VectorEvaluationFactor
* VectorComponentFactor<BASIS, P> controlPrior(key, measured, model, * VectorComponentFactor<BASIS, P> controlPrior(key, measured, model,
* N, i, t, a, b); * N, i, t, a, b);
* where N is the degree and i is the component index. * where N is the degree and i is the component index.
*
* @ingroup Basis
*/ */
template <class BASIS, size_t P> template <class BASIS, size_t P>
class VectorComponentFactor class VectorComponentFactor

4
gtsam/geometry/Cal3.h
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@ -16,7 +16,7 @@
*/ */
/** /**
* @addtogroup geometry * @ingroup geometry
*/ */
#pragma once #pragma once
@ -63,7 +63,7 @@ void calibrateJacobians(const Cal& calibration, const Point2& pn,
/** /**
* @brief Common base class for all calibration models. * @brief Common base class for all calibration models.
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3 { class GTSAM_EXPORT Cal3 {

2
gtsam/geometry/Cal3Bundler.h
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@ -26,7 +26,7 @@ namespace gtsam {
/** /**
* @brief Calibration used by Bundler * @brief Calibration used by Bundler
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3Bundler : public Cal3 { class GTSAM_EXPORT Cal3Bundler : public Cal3 {

2
gtsam/geometry/Cal3DS2.h
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@ -29,7 +29,7 @@ namespace gtsam {
* @brief Calibration of a camera with radial distortion that also supports * @brief Calibration of a camera with radial distortion that also supports
* Lie-group behaviors for optimization. * Lie-group behaviors for optimization.
* \sa Cal3DS2_Base * \sa Cal3DS2_Base
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base { class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {

2
gtsam/geometry/Cal3DS2_Base.h
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@ -27,7 +27,7 @@ namespace gtsam {
/** /**
* @brief Calibration of a camera with radial distortion * @brief Calibration of a camera with radial distortion
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
* *
* Uses same distortionmodel as OpenCV, with * Uses same distortionmodel as OpenCV, with

2
gtsam/geometry/Cal3Fisheye.h
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@ -30,7 +30,7 @@ namespace gtsam {
/** /**
* @brief Calibration of a fisheye camera * @brief Calibration of a fisheye camera
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
* *
* Uses same distortionmodel as OpenCV, with * Uses same distortionmodel as OpenCV, with

4
gtsam/geometry/Cal3Unified.h
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@ -18,7 +18,7 @@
*/ */
/** /**
* @addtogroup geometry * @ingroup geometry
*/ */
#pragma once #pragma once
@ -30,7 +30,7 @@ namespace gtsam {
/** /**
* @brief Calibration of a omni-directional camera with mirror + lens radial * @brief Calibration of a omni-directional camera with mirror + lens radial
* distortion * distortion
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
* *
* Similar to Cal3DS2, does distortion but has additional mirror parameter xi * Similar to Cal3DS2, does distortion but has additional mirror parameter xi

4
gtsam/geometry/Cal3_S2.h
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@ -16,7 +16,7 @@
*/ */
/** /**
* @addtogroup geometry * @ingroup geometry
*/ */
#pragma once #pragma once
@ -28,7 +28,7 @@ namespace gtsam {
/** /**
* @brief The most common 5DOF 3D->2D calibration * @brief The most common 5DOF 3D->2D calibration
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3_S2 : public Cal3 { class GTSAM_EXPORT Cal3_S2 : public Cal3 {

2
gtsam/geometry/Cal3_S2Stereo.h
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@ -24,7 +24,7 @@ namespace gtsam {
/** /**
* @brief The most common 5DOF 3D->2D calibration, stereo version * @brief The most common 5DOF 3D->2D calibration, stereo version
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 { class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {

4
gtsam/geometry/CalibratedCamera.h
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@ -46,7 +46,7 @@ private:
/** /**
* A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras * A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT PinholeBase { class GTSAM_EXPORT PinholeBase {
@ -241,7 +241,7 @@ private:
* A Calibrated camera class [R|-R't], calibration K=I. * A Calibrated camera class [R|-R't], calibration K=I.
* If calibration is known, it is more computationally efficient * If calibration is known, it is more computationally efficient
* to calibrate the measurements rather than try to predict in pixels. * to calibrate the measurements rather than try to predict in pixels.
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT CalibratedCamera: public PinholeBase { class GTSAM_EXPORT CalibratedCamera: public PinholeBase {

2
gtsam/geometry/Line3.h
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@ -38,7 +38,7 @@ GTSAM_EXPORT Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
/** /**
* A 3D line (R,a,b) : (Rot3,Scalar,Scalar) * A 3D line (R,a,b) : (Rot3,Scalar,Scalar)
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Line3 { class GTSAM_EXPORT Line3 {

2
gtsam/geometry/PinholeCamera.h
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@ -26,7 +26,7 @@ namespace gtsam {
/** /**
* A pinhole camera class that has a Pose3 and a Calibration. * A pinhole camera class that has a Pose3 and a Calibration.
* Use PinholePose if you will not be optimizing for Calibration * Use PinholePose if you will not be optimizing for Calibration
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template<typename Calibration> template<typename Calibration>

4
gtsam/geometry/PinholePose.h
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@ -27,7 +27,7 @@ namespace gtsam {
/** /**
* A pinhole camera class that has a Pose3 and a *fixed* Calibration. * A pinhole camera class that has a Pose3 and a *fixed* Calibration.
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template<typename CALIBRATION> template<typename CALIBRATION>
@ -236,7 +236,7 @@ public:
* A pinhole camera class that has a Pose3 and a *fixed* Calibration. * A pinhole camera class that has a Pose3 and a *fixed* Calibration.
* Instead of using this class, one might consider calibrating the measurements * Instead of using this class, one might consider calibrating the measurements
* and using CalibratedCamera, which would then be faster. * and using CalibratedCamera, which would then be faster.
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template<typename CALIBRATION> template<typename CALIBRATION>

2
gtsam/geometry/Pose2.h
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@ -30,7 +30,7 @@ namespace gtsam {
/** /**
* A 2D pose (Point2,Rot2) * A 2D pose (Point2,Rot2)
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Pose2: public LieGroup<Pose2, 3> { class Pose2: public LieGroup<Pose2, 3> {

2
gtsam/geometry/Pose3.h
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@ -31,7 +31,7 @@ class Pose2;
/** /**
* A 3D pose (R,t) : (Rot3,Point3) * A 3D pose (R,t) : (Rot3,Point3)
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> { class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {

2
gtsam/geometry/Rot2.h
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@ -30,7 +30,7 @@ namespace gtsam {
/** /**
* Rotation matrix * Rotation matrix
* NOTE: the angle theta is in radians unless explicitly stated * NOTE: the angle theta is in radians unless explicitly stated
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Rot2 : public LieGroup<Rot2, 1> { class GTSAM_EXPORT Rot2 : public LieGroup<Rot2, 1> {

2
gtsam/geometry/Rot3.h
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@ -53,7 +53,7 @@ namespace gtsam {
* @brief Rot3 is a 3D rotation represented as a rotation matrix if the * @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 * preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion
* if it is defined. * if it is defined.
* @addtogroup geometry * @ingroup geometry
*/ */
class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> { class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
private: private:

4
gtsam/geometry/SphericalCamera.h
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@ -34,7 +34,7 @@ namespace gtsam {
* Empty calibration. Only needed to play well with other cameras * Empty calibration. Only needed to play well with other cameras
* (e.g., when templating functions wrt cameras), since other cameras * (e.g., when templating functions wrt cameras), since other cameras
* have constuctors in the form ‘camera(pose,calibration)’ * have constuctors in the form ‘camera(pose,calibration)’
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT EmptyCal { class GTSAM_EXPORT EmptyCal {
@ -64,7 +64,7 @@ class GTSAM_EXPORT EmptyCal {
/** /**
* A spherical camera class that has a Pose3 and measures bearing vectors. * 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 * The camera has an ‘Empty’ calibration and the only 6 dof are the pose
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT SphericalCamera { class GTSAM_EXPORT SphericalCamera {

2
gtsam/geometry/StereoCamera.h
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@ -42,7 +42,7 @@ private:
/** /**
* A stereo camera class, parameterize by left camera pose and stereo calibration * A stereo camera class, parameterize by left camera pose and stereo calibration
* @addtogroup geometry * @ingroup geometry
*/ */
class GTSAM_EXPORT StereoCamera { class GTSAM_EXPORT StereoCamera {

2
gtsam/geometry/StereoPoint2.h
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@ -26,7 +26,7 @@ namespace gtsam {
/** /**
* A 2D stereo point, v will be same for rectified images * A 2D stereo point, v will be same for rectified images
* @addtogroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT StereoPoint2 { class GTSAM_EXPORT StereoPoint2 {

6
gtsam/navigation/AttitudeFactor.h
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@ -29,7 +29,7 @@ namespace gtsam {
* - measurement is direction of gravity in body frame bF * - measurement is direction of gravity in body frame bF
* - reference is direction of gravity in navigation frame nG * - reference is direction of gravity in navigation frame nG
* This factor will give zero error if nRb * bF == nG * This factor will give zero error if nRb * bF == nG
* @addtogroup Navigation * @ingroup navigation
*/ */
class AttitudeFactor { class AttitudeFactor {
@ -74,7 +74,7 @@ public:
/** /**
* Version of AttitudeFactor for Rot3 * Version of AttitudeFactor for Rot3
* @addtogroup Navigation * @ingroup navigation
*/ */
class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactor1<Rot3>, public AttitudeFactor { 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 * Version of AttitudeFactor for Pose3
* @addtogroup Navigation * @ingroup navigation
*/ */
class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactor1<Pose3>, class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactor1<Pose3>,
public AttitudeFactor { public AttitudeFactor {

2
gtsam/navigation/BarometricFactor.h
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@ -29,7 +29,7 @@ namespace gtsam {
* Model with a slowly moving bias to capture differences * Model with a slowly moving bias to capture differences
* between the height and the standard atmosphere * between the height and the standard atmosphere
* https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html * https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
* @addtogroup Navigation * @ingroup navigation
*/ */
class GTSAM_EXPORT BarometricFactor : public NoiseModelFactor2<Pose3, double> { class GTSAM_EXPORT BarometricFactor : public NoiseModelFactor2<Pose3, double> {
private: private:

4
gtsam/navigation/CombinedImuFactor.h
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@ -123,7 +123,7 @@ public:
* it is received from the IMU) so as to avoid costly integration at time of * it is received from the IMU) so as to avoid costly integration at time of
* factor construction. * factor construction.
* *
* @ingroup SLAM * @ingroup navigation
*/ */
class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType { class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType {
@ -252,7 +252,7 @@ public:
* the correlation between the bias uncertainty and the preintegrated * the correlation between the bias uncertainty and the preintegrated
* measurements uncertainty. * measurements uncertainty.
* *
* @ingroup SLAM * @ingroup navigation
*/ */
class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3, class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6<Pose3, Vector3, Pose3,
Vector3, imuBias::ConstantBias, imuBias::ConstantBias> { Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {

4
gtsam/navigation/GPSFactor.h
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@ -30,7 +30,7 @@ namespace gtsam {
* NED: North-East-Down navigation frame at some local origin * NED: North-East-Down navigation frame at some local origin
* ECEF: Earth-centered Earth-fixed, origin at Earth's center * ECEF: Earth-centered Earth-fixed, origin at Earth's center
* See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html * See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html
* @addtogroup Navigation * @ingroup navigation
*/ */
class GTSAM_EXPORT GPSFactor: public NoiseModelFactor1<Pose3> { class GTSAM_EXPORT GPSFactor: public NoiseModelFactor1<Pose3> {
@ -108,7 +108,7 @@ private:
/** /**
* Version of GPSFactor for NavState * Version of GPSFactor for NavState
* @addtogroup Navigation * @ingroup navigation
*/ */
class GTSAM_EXPORT GPSFactor2: public NoiseModelFactor1<NavState> { class GTSAM_EXPORT GPSFactor2: public NoiseModelFactor1<NavState> {

2
gtsam/sfm/MFAS.h
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@ -46,7 +46,7 @@ namespace gtsam {
i.e w_aZb is the unit translation from a to b expressed in the world 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 coordinate frame. The weights for the edges are obtained by projecting the
unit translations in a projection direction. unit translations in a projection direction.
@addtogroup SFM @ingroup sfm
*/ */
class GTSAM_EXPORT MFAS { class GTSAM_EXPORT MFAS {
public: public:

2
gtsam/sfm/SfmData.h
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@ -34,7 +34,7 @@ typedef PinholeCamera<Cal3Bundler> SfmCamera;
/** /**
* @brief SfmData stores a bunch of SfmTracks * @brief SfmData stores a bunch of SfmTracks
* @addtogroup sfm * @ingroup sfm
*/ */
struct GTSAM_EXPORT SfmData { struct GTSAM_EXPORT SfmData {
std::vector<SfmCamera> cameras; ///< Set of cameras std::vector<SfmCamera> cameras; ///< Set of cameras

2
gtsam/sfm/SfmTrack.h
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@ -36,7 +36,7 @@ typedef std::pair<size_t, size_t> SiftIndex;
/** /**
* @brief An SfmTrack stores SfM measurements grouped in a track * @brief An SfmTrack stores SfM measurements grouped in a track
* @addtogroup sfm * @ingroup sfm
*/ */
struct GTSAM_EXPORT SfmTrack { struct GTSAM_EXPORT SfmTrack {
Point3 p; ///< 3D position of the point Point3 p; ///< 3D position of the point

2
gtsam/sfm/TranslationFactor.h
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@ -35,7 +35,7 @@ namespace gtsam {
* ambient world coordinate frame: * ambient world coordinate frame:
* normalized(Tb - Ta) - w_aZb.point3() * normalized(Tb - Ta) - w_aZb.point3()
* *
* @addtogroup SFM * @ingroup sfm
* *
* *
*/ */