Fix comments
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@ -181,7 +181,7 @@ class GTSAM_EXPORT PreintegratedRotation {
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* @param measuredOmega The measured angular velocity (as given by the sensor)
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* @param bias The biasHat estimate
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* @param deltaT The time interval
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* @param F Jacobian of internal compose, used in AhrsFactor.
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* @param F optional Jacobian of internal compose, used in AhrsFactor.
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*/
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void integrateGyroMeasurement(const Vector3& measuredOmega,
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const Vector3& biasHat, double deltaT,
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@ -190,7 +190,7 @@ class GTSAM_EXPORT PreintegratedRotation {
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/**
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* @brief Return a bias corrected version of the integrated rotation.
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* @param biasOmegaIncr An increment with respect to biasHat used above.
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* @param H Jacobian of the correction w.r.t. the bias increment.
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* @param H optional Jacobian of the correction w.r.t. the bias increment.
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* @note The *key* functionality of this class used in optimizing the bias.
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*/
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Rot3 biascorrectedDeltaRij(const Vector3& biasOmegaIncr,
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