From 9a3d51792527ff284d8f6bbc4a5a9cf812d78f2b Mon Sep 17 00:00:00 2001 From: Jeremy Aguilon Date: Wed, 6 Mar 2019 17:49:40 -0500 Subject: [PATCH] Make documentation on .cpp file more specific --- gtsam_unstable/examples/FixedLagSmootherExample.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp index 8ccc9cc2c..1376aca40 100644 --- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp +++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp @@ -111,9 +111,9 @@ int main(int argc, char** argv) { noiseModel::Diagonal::shared_ptr odometryNoise2 = noiseModel::Diagonal::Sigmas(Vector3(0.05, 0.05, 0.05)); newFactors.push_back(BetweenFactor(previousKey, currentKey, odometryMeasurement2, odometryNoise2)); - // Update the smoothers with the new factors. - // In this example, Levenberg-Marquadt needs one iteration - // to pass to accurately estimate. + // Update the smoothers with the new factors. In this example, batch smoother needs one iteration + // to accurately converge. The ISAM smoother doesn't, but we only start getting estiates when + // both are ready for simplicity. if (time >= 0.50) { smootherBatch.update(newFactors, newValues, newTimestamps); smootherISAM2.update(newFactors, newValues, newTimestamps);