From 92bdd2b43c60cead7d60b2ee159beff135e2334e Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 7 Sep 2011 01:57:57 +0000
Subject: [PATCH] Documentation

---
 gtsam/slam/simulated2DOriented.h | 37 +++++++++++++++++---------------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/gtsam/slam/simulated2DOriented.h b/gtsam/slam/simulated2DOriented.h
index 420be1819..cbbc23bfe 100644
--- a/gtsam/slam/simulated2DOriented.h
+++ b/gtsam/slam/simulated2DOriented.h
@@ -16,7 +16,6 @@
  */
 
 // \callgraph
-
 #pragma once
 
 #include <gtsam/geometry/Pose2.h>
@@ -31,42 +30,43 @@ namespace gtsam {
 
 		// The types that take an oriented pose2 rather than point2
 		typedef TypedSymbol<Point2, 'l'> PointKey;
-		typedef TypedSymbol<Pose2,  'x'> PoseKey;
+		typedef TypedSymbol<Pose2, 'x'> PoseKey;
 		typedef LieValues<PoseKey> PoseValues;
 		typedef LieValues<PointKey> PointValues;
 		typedef TupleValues2<PoseValues, PointValues> Values;
 
 		//TODO:: point prior is not implemented right now
 
-		/**
-		 * Prior on a single pose, and optional derivative version
-		 */
+		/// Prior on a single pose
 		inline Pose2 prior(const Pose2& x) {
 			return x;
 		}
+
+		/// Prior on a single pose, optional derivative version
 		Pose2 prior(const Pose2& x, boost::optional<Matrix&> H = boost::none);
 
-		/**
-		 * odometry between two poses, and optional derivative version
-		 */
+		/// odometry between two poses
 		inline Pose2 odo(const Pose2& x1, const Pose2& x2) {
 			return x1.between(x2);
 		}
+
+		/// odometry between two poses, optional derivative version
 		Pose2 odo(const Pose2& x1, const Pose2& x2, boost::optional<Matrix&> H1 =
 				boost::none, boost::optional<Matrix&> H2 = boost::none);
 
-		/**
-		 * Unary factor encoding a soft prior on a vector
-		 */
+		/// Unary factor encoding a soft prior on a vector
 		template<class CFG = Values, class Key = PoseKey>
 		struct GenericPosePrior: public NonlinearFactor1<CFG, Key> {
 
-			Pose2 z_;
+			Pose2 z_; ///< measurement
 
-			GenericPosePrior(const Pose2& z, const SharedNoiseModel& model, const Key& key) :
-				NonlinearFactor1<CFG, Key> (model, key), z_(z) {
+			/// Create generic pose prior
+			GenericPosePrior(const Pose2& z, const SharedNoiseModel& model,
+					const Key& key) :
+					NonlinearFactor1<CFG, Key>(model, key), z_(z) {
 			}
 
+			/// Evaluate error and optionally derivative
 			Vector evaluateError(const Pose2& x, boost::optional<Matrix&> H =
 					boost::none) const {
 				return z_.logmap(prior(x, H));
@@ -81,13 +81,16 @@ namespace gtsam {
 		struct GenericOdometry: public NonlinearFactor2<CFG, KEY, KEY> {
 			Pose2 z_;
 
+			/// Create generic odometry factor
 			GenericOdometry(const Pose2& z, const SharedNoiseModel& model,
 					const KEY& i1, const KEY& i2) :
-				NonlinearFactor2<CFG, KEY, KEY> (model, i1, i2), z_(z) {
+					NonlinearFactor2<CFG, KEY, KEY>(model, i1, i2), z_(z) {
 			}
 
-			Vector evaluateError(const Pose2& x1, const Pose2& x2, boost::optional<
-					Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
+			/// Evaluate error and optionally derivative
+			Vector evaluateError(const Pose2& x1, const Pose2& x2,
+					boost::optional<Matrix&> H1 = boost::none,
+					boost::optional<Matrix&> H2 = boost::none) const {
 				return z_.logmap(odo(x1, x2, H1, H2));
 			}