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Fix comments

release/4.3a0
Frank Dellaert 2024-07-25 09:58:00 -05:00
parent f2bc3640cf
commit a90dbc7fc5
1 changed files with 2 additions and 2 deletions
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gtsam/navigation/PreintegratedRotation.h
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@ -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,