From 7efc411aa1b4b0b845cf09743db5d71a7769c1e4 Mon Sep 17 00:00:00 2001
From: kartik arcot <kartik.arcot@verdantrobotics.com>
Date: Wed, 11 Jan 2023 11:27:27 -0800
Subject: [PATCH] fixed some mr comments: use auto, change comment style

---
 gtsam/navigation/tests/testAttitudeFactor.cpp |  4 ++--
 gtsam/nonlinear/CustomFactor.cpp              |  2 +-
 gtsam/nonlinear/NonlinearFactor.h             | 18 +++++++++---------
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/gtsam/navigation/tests/testAttitudeFactor.cpp b/gtsam/navigation/tests/testAttitudeFactor.cpp
index f599e3957..0973fe8ac 100644
--- a/gtsam/navigation/tests/testAttitudeFactor.cpp
+++ b/gtsam/navigation/tests/testAttitudeFactor.cpp
@@ -102,8 +102,8 @@ TEST( Pose3AttitudeFactor, Constructor ) {
 
   Matrix actualH1;
 
-  std::function<Vector(const Pose3&)> err_fn = [&factor](const Pose3& p){
-	return factor.evaluateError(p, OptionalNone);
+  auto err_fn = [&factor](const Pose3& p){
+    return factor.evaluateError(p, OptionalNone);
   };
   // Calculate numerical derivatives
   Matrix expectedH = numericalDerivative11<Vector,Pose3>(err_fn, T);
diff --git a/gtsam/nonlinear/CustomFactor.cpp b/gtsam/nonlinear/CustomFactor.cpp
index ee5f9eae5..bb0a77078 100644
--- a/gtsam/nonlinear/CustomFactor.cpp
+++ b/gtsam/nonlinear/CustomFactor.cpp
@@ -43,7 +43,7 @@ Vector CustomFactor::unwhitenedError(const Values& x, OptionalMatrixVecType H) c
        *    return error
        * ```
        */
-      return this->error_function_(*this, x, &(*H));
+      return this->error_function_(*this, x, H);
     } else {
       /*
        * In this case, we pass the a `nullptr` to pybind, and it will translate to `None` in Python.
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 0974192a4..4fc98944f 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -35,7 +35,7 @@ namespace gtsam {
 
 /* ************************************************************************* */
 
-/* These typedefs and aliases will help with making the evaluateError interface
+/** These typedefs and aliases will help with making the evaluateError interface
 * independent of boost
 * TODO(kartikarcot): Change this to OptionalMatrixNone
 * This typedef is used to indicate that the Jacobian is not required
@@ -45,13 +45,13 @@ namespace gtsam {
 */
 #define OptionalNone static_cast<Matrix*>(nullptr)
 
-/* This typedef will be used everywhere boost::optional<Matrix&> reference was used
+/** This typedef will be used everywhere boost::optional<Matrix&> reference was used
  * previously. This is used to indicate that the Jacobian is optional. In the future
  * we will change this to OptionalJacobian
  */
 using OptionalMatrixType = Matrix*;
 
-/* The OptionalMatrixVecType is a pointer to a vector of matrices. It will
+/** The OptionalMatrixVecType is a pointer to a vector of matrices. It will
  * be used in situations where a vector of matrices is optional, like in 
  * unwhitenedError. */
 using OptionalMatrixVecType = std::vector<Matrix>*;
@@ -253,11 +253,11 @@ public:
    */
   virtual Vector unwhitenedError(const Values& x, OptionalMatrixVecType H = nullptr) const = 0;
 
-  // support taking in the actual vector instead of the pointer as well
-  // to get access to this version of the function from derived classes
-  // one will need to use the "using" keyword and specify that like this:
-  // public:
-  //   using NoiseModelFactor::unwhitenedError;
+  /** support taking in the actual vector instead of the pointer as well
+  * to get access to this version of the function from derived classes
+  * one will need to use the "using" keyword and specify that like this:
+  * public:
+  *   using NoiseModelFactor::unwhitenedError; */
   Vector unwhitenedError(const Values& x, std::vector<Matrix>& H) const {
     return unwhitenedError(x, &H);
   }
@@ -652,7 +652,7 @@ protected:
     static_assert((are_all_mat || are_all_ptrs),
                   "Arguments that are passed to the evaluateError function can only be of following the types: Matrix, "
                   "or Matrix*");
-    // if they pass all matrices then we want to pass their pointers instead
+    // If they pass all matrices then we want to pass their pointers instead
     if constexpr (are_all_mat) {
       return evaluateError(x..., (&H)...);
     } else {