From b569a4ab9230239f3c7738ad53f75d5e771ed077 Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Thu, 25 Jun 2015 11:41:58 -0400 Subject: [PATCH] feature: add some comment descriptions to the class --- gtsam/geometry/OrientedPlane3.h | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h index 949e4a285..5c9a5cdef 100644 --- a/gtsam/geometry/OrientedPlane3.h +++ b/gtsam/geometry/OrientedPlane3.h @@ -26,7 +26,12 @@ namespace gtsam { -/// Represents an infinite plane in 3D. +/** + * @brief Represents an infinite plane in 3D, which is composed of a planar normal and its + * perpendicular distance to the origin. + * Currently it provides a transform of the plane, and a norm 1 differencing of two planes. + * Refer to Trevor12iros for more math details. + */ class GTSAM_EXPORT OrientedPlane3 { private: @@ -89,7 +94,7 @@ public: OptionalJacobian<3, 6> Hr = boost::none) const; /** - * @ deprecated the static method has wrong Jacobian order, + * @deprecated the static method has wrong Jacobian order, * please use the member method transform() * @param The raw plane * @param xr a transformation in current coordiante