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Update CustomFactors.md to document return type.

release/4.3a0
Clark Taylor 2023-09-01 14:17:04 -04:00 committed by GitHub
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@ -17,7 +17,8 @@ def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -
`this` is a reference to the `CustomFactor` object. This is required because one can reuse the same
`error_func` for multiple factors. `v` is a reference to the current set of values, and `H` is a list of
**references** to the list of required Jacobians (see the corresponding C++ documentation).
**references** to the list of required Jacobians (see the corresponding C++ documentation). Note that
the error returned must be a 1D numpy array.
If `H` is `None`, it means the current factor evaluation does not need Jacobians. For example, the `error`
method on a factor does not need Jacobians, so we don't evaluate them to save CPU. If `H` is not `None`,