From 8e39e6b6561b4279d4ac43b52c0f891a66df90dc Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 04:54:40 +0000 Subject: [PATCH] Fixed doxygen warnings --- gtsam/base/FastList.h | 2 +- gtsam/base/FastMap.h | 2 +- gtsam/base/FastSet.h | 2 +- gtsam/base/FastVector.h | 2 +- gtsam/base/Testable.h | 2 +- gtsam/base/blockMatrices.h | 4 ++-- gtsam/base/types.h | 2 +- gtsam/geometry/Cal3Bundler.h | 2 +- gtsam/geometry/Cal3DS2.h | 2 +- gtsam/geometry/Cal3_S2.h | 4 ++-- gtsam/geometry/Cal3_S2Stereo.h | 2 +- gtsam/geometry/CalibratedCamera.h | 2 +- gtsam/geometry/PinholeCamera.h | 2 +- gtsam/geometry/Point2.h | 2 +- gtsam/geometry/Point3.h | 2 +- gtsam/geometry/Pose2.h | 2 +- gtsam/geometry/Pose3.h | 2 +- gtsam/geometry/Rot2.h | 2 +- gtsam/geometry/Rot3.h | 2 +- gtsam/geometry/StereoCamera.h | 2 +- gtsam/geometry/StereoPoint2.h | 2 +- gtsam/geometry/Tensor1.h | 2 +- gtsam/geometry/Tensor1Expression.h | 2 +- gtsam/geometry/Tensor2.h | 2 +- gtsam/geometry/Tensor2Expression.h | 2 +- gtsam/geometry/Tensor3.h | 2 +- gtsam/geometry/Tensor3Expression.h | 2 +- gtsam/geometry/Tensor4.h | 2 +- gtsam/geometry/Tensor5.h | 2 +- gtsam/geometry/Tensor5Expression.h | 2 +- gtsam/geometry/projectiveGeometry.h | 20 +++++++++---------- gtsam/geometry/tensors.h | 2 +- gtsam/inference/BayesTree-inl.h | 10 ++++------ gtsam/inference/BayesTree.h | 2 +- .../inference/GenericMultifrontalSolver-inl.h | 5 ++--- gtsam/inference/GenericSequentialSolver-inl.h | 2 +- gtsam/inference/JunctionTree-inl.h | 2 +- gtsam/inference/JunctionTree.h | 2 +- gtsam/linear/GaussianBayesTree.cpp | 12 +++++------ gtsam/linear/GaussianBayesTree.h | 7 ++++--- gtsam/linear/GaussianFactorGraph.h | 10 +++++----- gtsam/linear/GaussianJunctionTree.h | 2 +- gtsam/nonlinear/ISAM2.h | 14 +++++-------- gtsam/slam/planarSLAM.h | 8 ++------ gtsam/slam/pose2SLAM.h | 4 ++-- gtsam/slam/pose3SLAM.h | 4 ++-- gtsam_unstable/base/BTree.h | 2 +- gtsam_unstable/base/DSF.h | 2 +- gtsam_unstable/base/DSFVector.h | 2 +- 49 files changed, 83 insertions(+), 93 deletions(-) diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h index 60452357f..1b84adfed 100644 --- a/gtsam/base/FastList.h +++ b/gtsam/base/FastList.h @@ -31,7 +31,7 @@ namespace gtsam { * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the fast_pool_allocator can lead to speedups of several * percent. - * @ingroup base + * @addtogroup base */ template class FastList: public std::list > { diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h index c9fe30646..ab448de07 100644 --- a/gtsam/base/FastMap.h +++ b/gtsam/base/FastMap.h @@ -31,7 +31,7 @@ namespace gtsam { * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the fast_pool_allocator can lead to speedups of several * percent. - * @ingroup base + * @addtogroup base */ template class FastMap : public std::map, boost::fast_pool_allocator > > { diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h index 6abd7efb8..4c6e31d4e 100644 --- a/gtsam/base/FastSet.h +++ b/gtsam/base/FastSet.h @@ -42,7 +42,7 @@ struct FastSetTestableHelper; * fast_pool_allocator instead of the default STL allocator. This is just a * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the fast_pool_allocator can lead to speedups of several %. - * @ingroup base + * @addtogroup base */ template class FastSet: public std::set, boost::fast_pool_allocator > { diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index 18af63006..ee7258ba8 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -30,7 +30,7 @@ namespace gtsam { * pool_allocator instead of the default STL allocator. This is just a * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the pool_allocator can lead to speedups of several % - * @ingroup base + * @addtogroup base */ template class FastVector: public std::vector > { diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h index bcc6c8957..009d286db 100644 --- a/gtsam/base/Testable.h +++ b/gtsam/base/Testable.h @@ -46,7 +46,7 @@ namespace gtsam { * tests and in generic algorithms. * * See macros for details on using this structure - * @ingroup base + * @addtogroup base * @tparam T is the type this constrains to be testable - assumes print() and equals() */ template diff --git a/gtsam/base/blockMatrices.h b/gtsam/base/blockMatrices.h index a1baecd76..c0bc95a50 100644 --- a/gtsam/base/blockMatrices.h +++ b/gtsam/base/blockMatrices.h @@ -40,7 +40,7 @@ template class SymmetricBlockView; * all rows, rowEnd() should be set to the number of rows in the matrix (i.e. * one after the last true row index). * - * @ingroup base + * @addtogroup base */ template class VerticalBlockView { @@ -330,7 +330,7 @@ private: * change the apparent matrix view. firstBlock() determines the block that * appears to have index 0 for all operations (except re-setting firstBlock()). * - * @ingroup base + * @addtogroup base */ template class SymmetricBlockView { diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 2490a0cde..7973e3d34 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -14,7 +14,7 @@ * @brief Typedefs for easier changing of types * @author Richard Roberts * @date Aug 21, 2010 - * @defgroup base + * @addtogroup base */ #pragma once diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index 259a07c9b..7825e677e 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -25,7 +25,7 @@ namespace gtsam { /** * @brief Calibration used by Bundler - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3Bundler : public DerivedValue { diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index 9b94eccb5..fc6bce9db 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -25,7 +25,7 @@ namespace gtsam { /** * @brief Calibration of a camera with radial distortion - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3DS2 : public DerivedValue { diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 021b1e366..12838b667 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -16,7 +16,7 @@ */ /** - * @defgroup geometry + * @addtogroup geometry */ #pragma once @@ -28,7 +28,7 @@ namespace gtsam { /** * @brief The most common 5DOF 3D->2D calibration - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3_S2 : public DerivedValue { diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index 8282800c1..f32b2a922 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -23,7 +23,7 @@ namespace gtsam { /** * @brief The most common 5DOF 3D->2D calibration, stereo version - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3_S2Stereo { diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 04296eba1..c767a7e15 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -33,7 +33,7 @@ namespace gtsam { * A Calibrated camera class [R|-R't], calibration K=I. * If calibration is known, it is more computationally efficient * to calibrate the measurements rather than try to predict in pixels. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class CalibratedCamera : public DerivedValue { diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index acc27ae1c..f3b14f3c4 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -33,7 +33,7 @@ namespace gtsam { /** * A pinhole camera class that has a Pose3 and a Calibration. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ template diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h index fe7792733..a99da460b 100644 --- a/gtsam/geometry/Point2.h +++ b/gtsam/geometry/Point2.h @@ -29,7 +29,7 @@ namespace gtsam { * A 2D point * Complies with the Testable Concept * Functional, so no set functions: once created, a point is constant. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Point2 : public DerivedValue { diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index 7f7845dfb..4d15b65f5 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -32,7 +32,7 @@ namespace gtsam { /** * A 3D point - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Point3 : public DerivedValue { diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 55fe0a9d4..d15ba045c 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -30,7 +30,7 @@ namespace gtsam { /** * A 2D pose (Point2,Rot2) - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Pose2 : public DerivedValue { diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 9cfe7ba37..4d32a5608 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -32,7 +32,7 @@ namespace gtsam { /** * A 3D pose (R,t) : (Rot3,Point3) - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Pose3 : public DerivedValue { diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h index 8e33794e4..9528934a0 100644 --- a/gtsam/geometry/Rot2.h +++ b/gtsam/geometry/Rot2.h @@ -28,7 +28,7 @@ namespace gtsam { /** * Rotation matrix * NOTE: the angle theta is in radians unless explicitly stated - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Rot2 : public DerivedValue { diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 93e276de7..0c6b31a81 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -48,7 +48,7 @@ namespace gtsam { * @brief A 3D rotation represented as a rotation matrix if the preprocessor * symbol GTSAM_DEFAULT_QUATERNIONS is not defined, or as a quaternion if it * is defined. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Rot3 : public DerivedValue { diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index 4c278fab9..aa22c18c6 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -28,7 +28,7 @@ namespace gtsam { /** * A stereo camera class, parameterize by left camera pose and stereo calibration - * @ingroup geometry + * @addtogroup geometry */ class StereoCamera { diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h index 022296c21..6bfdefe26 100644 --- a/gtsam/geometry/StereoPoint2.h +++ b/gtsam/geometry/StereoPoint2.h @@ -25,7 +25,7 @@ namespace gtsam { /** * A 2D stereo point, v will be same for rectified images - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class StereoPoint2 : public DerivedValue { diff --git a/gtsam/geometry/Tensor1.h b/gtsam/geometry/Tensor1.h index 685166b53..e7dc6bfb3 100644 --- a/gtsam/geometry/Tensor1.h +++ b/gtsam/geometry/Tensor1.h @@ -23,7 +23,7 @@ namespace tensors { /** * A rank 1 tensor. Actually stores data. - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor1Expression.h b/gtsam/geometry/Tensor1Expression.h index 4e43fff58..37b5809c8 100644 --- a/gtsam/geometry/Tensor1Expression.h +++ b/gtsam/geometry/Tensor1Expression.h @@ -29,7 +29,7 @@ namespace tensors { * Templated class to provide a rank 1 tensor interface to a class. * This class does not store any data but the result of an expression. * It is associated with an index. - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor1Expression { diff --git a/gtsam/geometry/Tensor2.h b/gtsam/geometry/Tensor2.h index 12fd1509f..825b57b3e 100644 --- a/gtsam/geometry/Tensor2.h +++ b/gtsam/geometry/Tensor2.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 2 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor2Expression.h b/gtsam/geometry/Tensor2Expression.h index 6c953a5aa..f9e56054f 100644 --- a/gtsam/geometry/Tensor2Expression.h +++ b/gtsam/geometry/Tensor2Expression.h @@ -26,7 +26,7 @@ namespace tensors { /** * Templated class to hold a rank 2 tensor expression. - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor2Expression { diff --git a/gtsam/geometry/Tensor3.h b/gtsam/geometry/Tensor3.h index 78cdcb9f2..cfd96f7f6 100644 --- a/gtsam/geometry/Tensor3.h +++ b/gtsam/geometry/Tensor3.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 3 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor3Expression.h b/gtsam/geometry/Tensor3Expression.h index 0356caa6f..b7474bdfb 100644 --- a/gtsam/geometry/Tensor3Expression.h +++ b/gtsam/geometry/Tensor3Expression.h @@ -25,7 +25,7 @@ namespace tensors { /** * templated class to interface to an object A as a rank 3 tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor3Expression { diff --git a/gtsam/geometry/Tensor4.h b/gtsam/geometry/Tensor4.h index 26a52750c..e8bfb0186 100644 --- a/gtsam/geometry/Tensor4.h +++ b/gtsam/geometry/Tensor4.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 4 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor5.h b/gtsam/geometry/Tensor5.h index e12f7d2fb..a19784d84 100644 --- a/gtsam/geometry/Tensor5.h +++ b/gtsam/geometry/Tensor5.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 5 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor5Expression.h b/gtsam/geometry/Tensor5Expression.h index e9f0e852a..6a6018e22 100644 --- a/gtsam/geometry/Tensor5Expression.h +++ b/gtsam/geometry/Tensor5Expression.h @@ -25,7 +25,7 @@ namespace tensors { /** * templated class to interface to an object A as a rank 5 tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor5Expression { diff --git a/gtsam/geometry/projectiveGeometry.h b/gtsam/geometry/projectiveGeometry.h index cfad515ac..2be02a349 100644 --- a/gtsam/geometry/projectiveGeometry.h +++ b/gtsam/geometry/projectiveGeometry.h @@ -25,21 +25,21 @@ namespace gtsam { /** * 2D Point in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<3> Point2h; Point2h point2h(double x, double y, double w); ///< create Point2h /** * 2D Line in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<3> Line2h; Line2h line2h(double a, double b, double c); ///< create Line2h /** * 2D (homegeneous) Point correspondence - * @ingroup geometry + * @addtogroup geometry */ struct Correspondence { Point2h first; ///< First point @@ -63,19 +63,19 @@ namespace gtsam { /** * 2D-2D Homography - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor2<3, 3> Homography2; /** * Fundamental Matrix - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor2<3, 3> FundamentalMatrix; /** * Triplet of (homogeneous) 2D points - * @ingroup geometry + * @addtogroup geometry */ struct Triplet { Point2h first; ///< First point @@ -97,27 +97,27 @@ namespace gtsam { /** * Trifocal Tensor - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor3<3, 3, 3> TrifocalTensor; /** * 3D Point in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<4> Point3h; Point3h point3h(double X, double Y, double Z, double W); ///< create Point3h /** * 3D Plane in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<4> Plane3h; Plane3h plane3h(double a, double b, double c, double d); ///< create Plane3h /** * 3D to 2D projective camera - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor2<3, 4> ProjectiveCamera; diff --git a/gtsam/geometry/tensors.h b/gtsam/geometry/tensors.h index 1441a7823..a7125775a 100644 --- a/gtsam/geometry/tensors.h +++ b/gtsam/geometry/tensors.h @@ -14,7 +14,7 @@ * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf * @date Feb 10, 2010 * @author Frank Dellaert - * @defgroup tensors + * @addtogroup tensors */ #pragma once diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 2c3ce4035..9a6b1478e 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -51,9 +51,9 @@ namespace gtsam { return data; } + /* ************************************************************************* */ template - void BayesTree::getCliqueData(CliqueData& data, - typename BayesTree::sharedClique clique) const { + void BayesTree::getCliqueData(CliqueData& data, sharedClique clique) const { data.conditionalSizes.push_back((*clique)->nrFrontals()); data.separatorSizes.push_back((*clique)->nrParents()); BOOST_FOREACH(sharedClique c, clique->children_) { @@ -64,7 +64,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesTree::saveGraph(const std::string &s) const { - if (!root_.get()) throw invalid_argument("the root of bayes tree has not been initialized!"); + if (!root_.get()) throw invalid_argument("the root of Bayes tree has not been initialized!"); ofstream of(s.c_str()); of<< "digraph G{\n"; saveGraph(of, root_); @@ -73,9 +73,7 @@ namespace gtsam { } template - void BayesTree::saveGraph(ostream &s, - typename BayesTree::sharedClique clique, - int parentnum) const { + void BayesTree::saveGraph(ostream &s, sharedClique clique, int parentnum) const { static int num = 0; bool first = true; std::stringstream out; diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index a4cdbaafe..de9a84640 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -46,7 +46,7 @@ namespace gtsam { * @tparam CLIQUE The type of the clique data structure, defaults to BayesTreeClique, normally do not change this * as it is only used when developing special versions of BayesTree, e.g. for ISAM2. * - * \ingroup Multifrontal + * \addtogroup Multifrontal * \nosubgrouping */ template > diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index b24db8484..84ca937fa 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -36,15 +36,14 @@ namespace gtsam { /* ************************************************************************* */ template GenericMultifrontalSolver::GenericMultifrontalSolver( - const typename FactorGraph::shared_ptr& graph, + const sharedGraph& graph, const VariableIndex::shared_ptr& variableIndex) : structure_(variableIndex), junctionTree_(new JT(*graph, *structure_)) { } /* ************************************************************************* */ template - void GenericMultifrontalSolver::replaceFactors( - const typename FactorGraph::shared_ptr& graph) { + void GenericMultifrontalSolver::replaceFactors(const sharedGraph& graph) { junctionTree_.reset(new JT(*graph, *structure_)); } diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h index b2629566b..5b3e0dd28 100644 --- a/gtsam/inference/GenericSequentialSolver-inl.h +++ b/gtsam/inference/GenericSequentialSolver-inl.h @@ -41,7 +41,7 @@ namespace gtsam { template GenericSequentialSolver::GenericSequentialSolver( const sharedFactorGraph& factorGraph, - const VariableIndex::shared_ptr& variableIndex) : + const boost::shared_ptr& variableIndex) : factors_(factorGraph), structure_(variableIndex), eliminationTree_(EliminationTree::Create(*factors_, *structure_)) { } diff --git a/gtsam/inference/JunctionTree-inl.h b/gtsam/inference/JunctionTree-inl.h index ad8b389ab..bf1c17890 100644 --- a/gtsam/inference/JunctionTree-inl.h +++ b/gtsam/inference/JunctionTree-inl.h @@ -72,7 +72,7 @@ namespace gtsam { /* ************************************************************************* */ template typename JunctionTree::sharedClique JunctionTree::distributeFactors( - const FG& fg, const typename SymbolicBayesTree::sharedClique& bayesClique) { + const FG& fg, const SymbolicBayesTree::sharedClique& bayesClique) { // Build "target" index. This is an index for each variable of the factors // that involve this variable as their *lowest-ordered* variable. For each diff --git a/gtsam/inference/JunctionTree.h b/gtsam/inference/JunctionTree.h index 33a9aa5e4..e8aceafe9 100644 --- a/gtsam/inference/JunctionTree.h +++ b/gtsam/inference/JunctionTree.h @@ -47,7 +47,7 @@ namespace gtsam { * except that in the JunctionTree, at each node multiple variables are eliminated at a time. * * - * \ingroup Multifrontal + * \addtogroup Multifrontal * \nosubgrouping */ template::Clique> diff --git a/gtsam/linear/GaussianBayesTree.cpp b/gtsam/linear/GaussianBayesTree.cpp index 4a0e4b355..f9ea3fdc8 100644 --- a/gtsam/linear/GaussianBayesTree.cpp +++ b/gtsam/linear/GaussianBayesTree.cpp @@ -35,27 +35,27 @@ void optimizeInPlace(const GaussianBayesTree& bayesTree, VectorValues& result) { } /* ************************************************************************* */ -VectorValues optimizeGradientSearch(const GaussianBayesTree& Rd) { +VectorValues optimizeGradientSearch(const GaussianBayesTree& bayesTree) { tic(0, "Allocate VectorValues"); - VectorValues grad = *allocateVectorValues(Rd); + VectorValues grad = *allocateVectorValues(bayesTree); toc(0, "Allocate VectorValues"); - optimizeGradientSearchInPlace(Rd, grad); + optimizeGradientSearchInPlace(bayesTree, grad); return grad; } /* ************************************************************************* */ -void optimizeGradientSearchInPlace(const GaussianBayesTree& Rd, VectorValues& grad) { +void optimizeGradientSearchInPlace(const GaussianBayesTree& bayesTree, VectorValues& grad) { tic(1, "Compute Gradient"); // Compute gradient (call gradientAtZero function, which is defined for various linear systems) - gradientAtZero(Rd, grad); + gradientAtZero(bayesTree, grad); double gradientSqNorm = grad.dot(grad); toc(1, "Compute Gradient"); tic(2, "Compute R*g"); // Compute R * g - FactorGraph Rd_jfg(Rd); + FactorGraph Rd_jfg(bayesTree); Errors Rg = Rd_jfg * grad; toc(2, "Compute R*g"); diff --git a/gtsam/linear/GaussianBayesTree.h b/gtsam/linear/GaussianBayesTree.h index 8b581351c..91480d43a 100644 --- a/gtsam/linear/GaussianBayesTree.h +++ b/gtsam/linear/GaussianBayesTree.h @@ -25,13 +25,14 @@ namespace gtsam { +/// A Bayes Tree representing a Gaussian density typedef BayesTree GaussianBayesTree; /// optimize the BayesTree, starting from the root VectorValues optimize(const GaussianBayesTree& bayesTree); /// recursively optimize this conditional and all subtrees -void optimizeInPlace(const GaussianBayesTree& clique, VectorValues& result); +void optimizeInPlace(const GaussianBayesTree& bayesTree, VectorValues& result); namespace internal { template @@ -63,10 +64,10 @@ void optimizeInPlace(const typename BAYESTREE::sharedClique& clique, VectorValue * * \f[ \delta x = \hat\alpha g = \frac{-g^T g}{(R g)^T(R g)} \f] */ -VectorValues optimizeGradientSearch(const GaussianBayesTree& bn); +VectorValues optimizeGradientSearch(const GaussianBayesTree& bayesTree); /** In-place version of optimizeGradientSearch requiring pre-allocated VectorValues \c x */ -void optimizeGradientSearchInPlace(const GaussianBayesTree& bn, VectorValues& grad); +void optimizeGradientSearchInPlace(const GaussianBayesTree& bayesTree, VectorValues& grad); /** * Compute the gradient of the energy function, diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 1f66b5b4c..8a5fe47e7 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -202,7 +202,7 @@ namespace gtsam { /** * Combine and eliminate several factors. - * \ingroup LinearSolving + * \addtogroup LinearSolving */ JacobianFactor::shared_ptr CombineJacobians( const FactorGraph& factors, @@ -223,7 +223,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminateJacobians(const FactorGraph< JacobianFactor>& factors, size_t nrFrontals = 1); @@ -238,7 +238,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminateQR(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); @@ -260,7 +260,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminatePreferCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); @@ -281,7 +281,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); diff --git a/gtsam/linear/GaussianJunctionTree.h b/gtsam/linear/GaussianJunctionTree.h index 3d4227b93..b97998a12 100644 --- a/gtsam/linear/GaussianJunctionTree.h +++ b/gtsam/linear/GaussianJunctionTree.h @@ -35,7 +35,7 @@ namespace gtsam { * create a BayesTree. In both cases, you need to provide a basic * GaussianFactorGraph::Eliminate function that will be used to * - * \ingroup Multifrontal + * \addtogroup Multifrontal */ class GaussianJunctionTree: public JunctionTree { diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 0d5724865..2211122d8 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -28,11 +28,7 @@ namespace gtsam { /** - * @defgroup ISAM2 - */ - -/** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Parameters for ISAM2 using Gauss-Newton optimization. Either this class or * ISAM2DoglegParams should be specified as the optimizationParams in * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&). @@ -47,7 +43,7 @@ struct ISAM2GaussNewtonParams { }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Parameters for ISAM2 using Dogleg optimization. Either this class or * ISAM2GaussNewtonParams should be specified as the optimizationParams in * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&). @@ -69,7 +65,7 @@ struct ISAM2DoglegParams { }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Parameters for the ISAM2 algorithm. Default parameter values are listed below. */ struct ISAM2Params { @@ -147,7 +143,7 @@ struct ISAM2Params { }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * This struct is returned from ISAM2::update() and contains information about * the update that is useful for determining whether the solution is * converging, and about how much work was required for the update. See member @@ -315,7 +311,7 @@ private: }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Implementation of the full ISAM2 algorithm for incremental nonlinear optimization. * * The typical cycle of using this class to create an instance by providing ISAM2Params diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index 01a9df763..aecd22b75 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -27,10 +27,6 @@ #include #include -/** - * @defgroup SLAM - */ - // Use planarSLAM namespace for specific SLAM instance namespace planarSLAM { @@ -55,7 +51,7 @@ namespace planarSLAM { /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Values: public gtsam::Values { @@ -88,7 +84,7 @@ namespace planarSLAM { /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Graph: public NonlinearFactorGraph { diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 778d844f2..062893a9c 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -32,7 +32,7 @@ namespace pose2SLAM { /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Values: public gtsam::Values { @@ -82,7 +82,7 @@ namespace pose2SLAM { /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Graph: public NonlinearFactorGraph { diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index 9be699fd8..41d301e08 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -32,7 +32,7 @@ namespace pose3SLAM { /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Values: public gtsam::Values { @@ -77,7 +77,7 @@ namespace pose3SLAM { /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Graph: public NonlinearFactorGraph { diff --git a/gtsam_unstable/base/BTree.h b/gtsam_unstable/base/BTree.h index 2a40465a3..379725a7a 100644 --- a/gtsam_unstable/base/BTree.h +++ b/gtsam_unstable/base/BTree.h @@ -26,7 +26,7 @@ namespace gtsam { /** * @brief Binary tree - * @ingroup base + * @addtogroup base */ template class BTree { diff --git a/gtsam_unstable/base/DSF.h b/gtsam_unstable/base/DSF.h index 5276779b0..0c7cc7399 100644 --- a/gtsam_unstable/base/DSF.h +++ b/gtsam_unstable/base/DSF.h @@ -34,7 +34,7 @@ namespace gtsam { * S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by * a representative, which is some member of the set. * - * @ingroup base + * @addtogroup base */ template class DSF : protected BTree { diff --git a/gtsam_unstable/base/DSFVector.h b/gtsam_unstable/base/DSFVector.h index 17e897032..3940723c4 100644 --- a/gtsam_unstable/base/DSFVector.h +++ b/gtsam_unstable/base/DSFVector.h @@ -27,7 +27,7 @@ namespace gtsam { /** * A fast implementation of disjoint set forests that uses vector as underly data structure. - * @ingroup base + * @addtogroup base */ class DSFVector {