From 5c420f1aecb7eaa95056e2a3b7a5b1eb2fb4a1e8 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Sun, 4 May 2014 18:16:40 -0400
Subject: [PATCH] added references

---
 gtsam/navigation/CombinedImuFactor.h            |  5 +++++
 gtsam/navigation/ImuFactor.h                    |  8 +++++++-
 gtsam_unstable/slam/SmartProjectionPoseFactor.h | 10 ++++++++++
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 559568c84..06e79324d 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -34,6 +34,11 @@ namespace gtsam {
    * 
    * @addtogroup SLAM
    *
+   * If you are using the factor, please cite:
+   * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
+   * independent sets in factor graphs: a unifying perspective based on smart factors,
+   * Int. Conf. on Robotics and Automation (ICRA), 2014.
+   *
    * REFERENCES:
    * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
    * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index b1e20297e..f5b5293f8 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -33,7 +33,13 @@ namespace gtsam {
   /**
    * 
    * @addtogroup SLAM
-   *    * REFERENCES:
+   *
+   * If you are using the factor, please cite:
+   * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
+   * independent sets in factor graphs: a unifying perspective based on smart factors,
+   * Int. Conf. on Robotics and Automation (ICRA), 2014.
+   *
+   ** REFERENCES:
    * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.
    * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built
    * Environments Without Initial Conditions", TRO, 28(1):61-76, 2012.
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactor.h b/gtsam_unstable/slam/SmartProjectionPoseFactor.h
index 879e5ab80..8f9617561 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactor.h
@@ -22,6 +22,16 @@
 #include "SmartProjectionFactor.h"
 
 namespace gtsam {
+/**
+ *
+ * @addtogroup SLAM
+ *
+ * If you are using the factor, please cite:
+ * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
+ * independent sets in factor graphs: a unifying perspective based on smart factors,
+ * Int. Conf. on Robotics and Automation (ICRA), 2014.
+ *
+ */
 
 /**
  * The calibration is known here. The factor only constraints poses (variable dimension is 6)