From a90dbc7fc5031e519dd27aab4ebaa1cd6f4177e2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 25 Jul 2024 09:58:00 -0500 Subject: [PATCH] Fix comments --- gtsam/navigation/PreintegratedRotation.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h index 5c36da05b..49b1aa4c1 100644 --- a/gtsam/navigation/PreintegratedRotation.h +++ b/gtsam/navigation/PreintegratedRotation.h @@ -181,7 +181,7 @@ class GTSAM_EXPORT PreintegratedRotation { * @param measuredOmega The measured angular velocity (as given by the sensor) * @param bias The biasHat estimate * @param deltaT The time interval - * @param F Jacobian of internal compose, used in AhrsFactor. + * @param F optional Jacobian of internal compose, used in AhrsFactor. */ void integrateGyroMeasurement(const Vector3& measuredOmega, const Vector3& biasHat, double deltaT, @@ -190,7 +190,7 @@ class GTSAM_EXPORT PreintegratedRotation { /** * @brief Return a bias corrected version of the integrated rotation. * @param biasOmegaIncr An increment with respect to biasHat used above. - * @param H Jacobian of the correction w.r.t. the bias increment. + * @param H optional Jacobian of the correction w.r.t. the bias increment. * @note The *key* functionality of this class used in optimizing the bias. */ Rot3 biascorrectedDeltaRij(const Vector3& biasOmegaIncr,