From 6d2e306aa8781eedf4af470259609858e480e2a0 Mon Sep 17 00:00:00 2001
From: akrishnan86 <akrishnan86@gatech.edu>
Date: Tue, 1 Dec 2020 09:10:32 -0800
Subject: [PATCH] documenting member variables

---
 gtsam/sfm/TranslationRecovery.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 9ffe45685..c99836853 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -54,8 +54,14 @@ class TranslationRecovery {
   using TranslationEdges = std::vector<BinaryMeasurement<Unit3>>;
 
  private:
+  // Translation directions between camera pairs.
   TranslationEdges relativeTranslations_;
+
+  // Parameters used by the LM Optimizer.
   LevenbergMarquardtParams params_;
+
+  // Map from a key in the graph to a set of keys that share the same
+  // translation.
   std::map<Key, std::set<Key>> sameTranslationNodes_;
 
  public: