diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index c5301f030..92919b936 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -32,8 +32,8 @@ namespace gtsam { /** * A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: - * each node k represents a subset C_k \sub X, and the tree is family preserving, in that - * each factor f_i is associated with a single cluster and scope(f_i) \sub C_k. + * each node k represents a subset \f$ C_k \sub X \f$, and the tree is family preserving, in that + * each factor \f$ f_i \f$ is associated with a single cluster and \f$ scope(f_i) \sub C_k \f$. * \nosubgrouping */ template diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 87391be0a..f7a1c351a 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -146,7 +146,6 @@ namespace gtsam { /** * A Gaussian noise model created by specifying a square root information matrix. - * @param smart, check if can be simplified to derived class */ static shared_ptr SqrtInformation(const Matrix& R) { return shared_ptr(new Gaussian(R.rows(),R)); @@ -154,7 +153,7 @@ namespace gtsam { /** * A Gaussian noise model created by specifying a covariance matrix. - * @param smart, check if can be simplified to derived class + * @param smart check if can be simplified to derived class */ static shared_ptr Covariance(const Matrix& covariance, bool smart=false); @@ -267,7 +266,7 @@ namespace gtsam { /** * A diagonal noise model created by specifying a Vector of variances, i.e. * i.e. the diagonal of the covariance matrix. - * @param smart, check if can be simplified to derived class + * @param smart check if can be simplified to derived class */ static shared_ptr Variances(const Vector& variances, bool smart = false); @@ -503,7 +502,7 @@ namespace gtsam { /** * An isotropic noise model created by specifying a variance = sigma^2. - * @param smart, check if can be simplified to derived class + * @param smart check if can be simplified to derived class */ static shared_ptr Variance(size_t dim, double variance, bool smart = false); diff --git a/gtsam/mainpage.dox b/gtsam/mainpage.dox index e81fc1f65..db42b1277 100644 --- a/gtsam/mainpage.dox +++ b/gtsam/mainpage.dox @@ -9,9 +9,9 @@ namespace gtsam { \section new_factor_variable_types Creating new factor and variable types GTSAM comes with a set of variable and factor types typically used in SFM and -SLAM. Geometry variables such as points and poses are in the \ref geometry +SLAM. Geometry variables such as points and poses are in the geometry subdirectory and module. Factors such as BetweenFactor and BearingFactor are in -the \ref gtsam/slam directory. +the gtsam/slam directory. To use GTSAM to solve your own problems, you will often have to create new factor types, which derive either from NonlinearFactor or NoiseModelFactor, or one of their derived types. Here is an outline of the options: diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index a5a838881..1d4d580b9 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -228,7 +228,6 @@ public: /** * Constructor - * @param keys The variables involved in this factor */ template NoiseModelFactor(const SharedNoiseModel& noiseModel, ITERATOR beginKeys, ITERATOR endKeys) @@ -379,14 +378,14 @@ public: /** * Constructor - * @param z measurement - * @param key by which to look up X value in Values + * @param key1 by which to look up X value in Values */ NoiseModelFactor1(const SharedNoiseModel& noiseModel, Key key1) : Base(noiseModel, key1) {} /** Calls the 1-key specific version of evaluateError, which is pure virtual - * so must be implemented in the derived class. */ + * so must be implemented in the derived class. + */ virtual Vector unwhitenedError(const Values& x, boost::optional&> H = boost::none) const { if(this->active(x)) { const X& x1 = x.at(keys_[0]); diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4a03ab05e..37708d9d9 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -402,7 +402,7 @@ namespace gtsam { * When iterating over the filtered view, only the key-value pairs * with a key causing \c filterFcn to return \c true are visited. Because * the object Filtered returned from filter() is only a - * view the original Values object must not be deallocated or + * view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @param filterFcn The function that determines which key-value pairs are * included in the filtered view, for which this function returns \c true @@ -421,7 +421,7 @@ namespace gtsam { * template argument \c ValueType and whose key causes the function argument * \c filterFcn to return true are visited when iterating over the filtered * view. Because the object Filtered returned from filter() is only - * a view the original Values object must not be deallocated or + * a view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @tparam ValueType The type that the value in a key-value pair must match * to be included in the filtered view. Currently, base classes are not @@ -445,7 +445,7 @@ namespace gtsam { * When iterating over the filtered view, only the key-value pairs * with a key causing \c filterFcn to return \c true are visited. Because * the object Filtered returned from filter() is only a - * view the original Values object must not be deallocated or + * view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @param filterFcn The function that determines which key-value pairs are * included in the filtered view, for which this function returns \c true @@ -464,7 +464,7 @@ namespace gtsam { * template argument \c ValueType and whose key causes the function argument * \c filterFcn to return true are visited when iterating over the filtered * view. Because the object Filtered returned from filter() is only - * a view the original Values object must not be deallocated or + * a view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @tparam ValueType The type that the value in a key-value pair must match * to be included in the filtered view. Currently, base classes are not diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h index 354a1bcbc..f37debd54 100644 --- a/gtsam/nonlinear/WhiteNoiseFactor.h +++ b/gtsam/nonlinear/WhiteNoiseFactor.h @@ -51,7 +51,7 @@ namespace gtsam { public: - /** @brief negative log likelihood as a function of mean \mu and precision \tau + /** @brief negative log likelihood as a function of mean \f$ \mu \f$ and precision \f$ \tau \f$ * @f[ * f(z, \tau, \mu) * = -\log \left( \frac{\sqrt{\tau}}{\sqrt{2\pi}} \exp(-0.5\tau(z-\mu)^2) \right)