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grammar fixes

release/4.3a0
Varun Agrawal 2020-02-05 21:29:27 -05:00
parent 7c6008ae11
commit 5d39cf2094
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README.md
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@ -2,7 +2,7 @@
## What is GTSAM? ## What is GTSAM?
GTSAM is a C++ library that implement smoothing and GTSAM is a C++ library that implements smoothing and
mapping (SAM) in robotics and vision, using Factor Graphs and Bayes mapping (SAM) in robotics and vision, using Factor Graphs and Bayes
Networks as the underlying computing paradigm rather than sparse Networks as the underlying computing paradigm rather than sparse
matrices. matrices.
@ -44,9 +44,9 @@ Optional prerequisites - used automatically if findable by CMake:
## GTSAM 4 Compatibility ## GTSAM 4 Compatibility
GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag. GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. We also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag.
Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect. Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
## Wrappers ## Wrappers
@ -65,7 +65,7 @@ Our implementation improves on this using integration on the manifold, as detail
If you are using the factor in academic work, please cite the publications above. If you are using the factor in academic work, please cite the publications above.
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in docs/ImuFactor.pdf, is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
## Additional Information ## Additional Information