From 782eeb0bde57cda090339961b4f912f88fd05a62 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 1 Jul 2010 20:50:37 +0000 Subject: [PATCH] comment only --- cpp/PriorFactor.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/cpp/PriorFactor.h b/cpp/PriorFactor.h index 99531a5dc..db8bf0210 100644 --- a/cpp/PriorFactor.h +++ b/cpp/PriorFactor.h @@ -13,7 +13,12 @@ namespace gtsam { /** * A class for a soft prior on any Lie type - * T is the Lie group type, Config where the T's are gotten from + * It takes three template parameters: + * T is the Lie group type for which the prior is define + * Key (typically TypedSymbol) is used to look up T's in a Config + * Config where the T's are stored, typically LieConfig or a TupleConfig<...> + * The Key type is not arbitrary: we need to cast to a Symbol at linearize, so + * a simple type like int will not work */ template class PriorFactor: public NonlinearFactor1 {