From bde9285211b1882865a59f870eb3a8f1bb6d2395 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 25 Aug 2024 16:42:23 -0400
Subject: [PATCH] better test documentation

---
 tests/testDoglegOptimizer.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp
index d7de63d3d..6fbc522d3 100644
--- a/tests/testDoglegOptimizer.cpp
+++ b/tests/testDoglegOptimizer.cpp
@@ -184,6 +184,14 @@ TEST(DoglegOptimizer, Constraint) {
 }
 
 /* ************************************************************************* */
+/**
+ * Test created to fix issue in ISAM2 when using the DogLegOptimizer.
+ * Originally reported by kvmanohar22 in issue #301
+ * https://github.com/borglab/gtsam/issues/301
+ *
+ * This test is based on a script provided by kvmanohar22
+ * to help reproduce the issue.
+ */
 TEST(DogLegOptimizer, VariableUpdate) {
   // Make the typename short so it looks much cleaner
   typedef SmartProjectionPoseFactor<Cal3_S2> SmartFactor;