From 68c9da8c4e7b3c333dfe394e5b58a38e4bd1d9b5 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 24 Oct 2024 13:21:29 -0700
Subject: [PATCH] More cleanup

---
 gtsam/inference/LabeledSymbol.h | 26 ++++++++++++++------------
 gtsam/sfm/TranslationFactor.h   |  4 ++--
 gtsam/sfm/TranslationRecovery.h |  4 ++--
 3 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/gtsam/inference/LabeledSymbol.h b/gtsam/inference/LabeledSymbol.h
index eb663ef9b..927fb7669 100644
--- a/gtsam/inference/LabeledSymbol.h
+++ b/gtsam/inference/LabeledSymbol.h
@@ -68,7 +68,7 @@ class GTSAM_EXPORT LabeledSymbol {
   }
 
   /// @}
-  /// @name API
+  /// @name Standard API
   /// @{
 
   /// Cast to Key
@@ -103,15 +103,13 @@ class GTSAM_EXPORT LabeledSymbol {
   bool operator!=(const LabeledSymbol& comp) const;
   bool operator!=(Key comp) const;
 
-  /** Return a filter function that returns true when evaluated on a Key whose
-   * character (when converted to a LabeledSymbol) matches \c c.  Use this with
-   * the Values::filter() function to retrieve all key-value pairs with the
-   * requested character.
-   */
-
   /// @}
-  /// @name Advanced API
+  /// @name Filtering
   /// @{
+  /// Return a filter function that returns true when evaluated on a Key whose
+  /// character (when converted to a LabeledSymbol) matches \c c.  Use this with
+  /// the Values::filter() function to retrieve all key-value pairs with the
+  /// requested character.
 
   /// Checks only the type
   static std::function<bool(Key)> TypeTest(unsigned char c);
@@ -123,6 +121,10 @@ class GTSAM_EXPORT LabeledSymbol {
   static std::function<bool(Key)> TypeLabelTest(unsigned char c,
                                                 unsigned char label);
 
+  /// @}
+  /// @name Advanced API
+  /// @{
+
   /// Converts to upper/lower versions of labels
   LabeledSymbol upper() const { return LabeledSymbol(c_, toupper(label_), j_); }
   LabeledSymbol lower() const { return LabeledSymbol(c_, tolower(label_), j_); }
@@ -152,20 +154,20 @@ class GTSAM_EXPORT LabeledSymbol {
 #endif
 };  // \class LabeledSymbol
 
-/** Create a symbol key from a character, label and index, i.e. xA5. */
+/// Create a symbol key from a character, label and index, i.e. xA5.
 inline Key mrsymbol(unsigned char c, unsigned char label, size_t j) {
   return (Key)LabeledSymbol(c, label, j);
 }
 
-/** Return the character portion of a symbol key. */
+/// Return the character portion of a symbol key.
 inline unsigned char mrsymbolChr(Key key) { return LabeledSymbol(key).chr(); }
 
-/** Return the label portion of a symbol key. */
+/// Return the label portion of a symbol key.
 inline unsigned char mrsymbolLabel(Key key) {
   return LabeledSymbol(key).label();
 }
 
-/** Return the index portion of a symbol key. */
+/// Return the index portion of a symbol key.
 inline size_t mrsymbolIndex(Key key) { return LabeledSymbol(key).index(); }
 
 /// traits
diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index 33bc82f5a..cfb9cff20 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -55,7 +55,7 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
       : Base(noiseModel, a, b), measured_w_aZb_(w_aZb.point3()) {}
 
   /**
-   * @brief Caclulate error: (norm(Tb - Ta) - measurement)
+   * @brief Calculate error: (norm(Tb - Ta) - measurement)
    * where Tb and Ta are Point3 translations and measurement is
    * the Unit3 translation direction from a to b.
    *
@@ -120,7 +120,7 @@ class BilinearAngleTranslationFactor
   using NoiseModelFactor2<Point3, Point3, Vector1>::evaluateError;
 
   /**
-   * @brief Caclulate error: (scale * (Tb - Ta) - measurement)
+   * @brief Calculate error: (scale * (Tb - Ta) - measurement)
    * where Tb and Ta are Point3 translations and measurement is
    * the Unit3 translation direction from a to b.
    *
diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index a91ef01f9..f821da975 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -119,7 +119,7 @@ class GTSAM_EXPORT TranslationRecovery {
    * @param betweenTranslations relative translations (with scale) between 2
    * points in world coordinate frame known a priori.
    * @param rng random number generator
-   * @param intialValues (optional) initial values from a prior
+   * @param initialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
@@ -156,7 +156,7 @@ class GTSAM_EXPORT TranslationRecovery {
    * points in world coordinate frame known a priori. Unlike
    * relativeTranslations, zero-magnitude betweenTranslations are not treated as
    * hard constraints.
-   * @param initialValues intial values for optimization. Initializes randomly
+   * @param initialValues initial values for optimization. Initializes randomly
    * if not provided.
    * @return Values
    */