From ce27a8baa02c4421719e2783b9cfbed6498c62d4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 6 Jan 2023 16:04:05 -0800 Subject: [PATCH] Fix (very old) Factor documentation --- gtsam/inference/Factor.h | 23 +++++++++-------------- 1 file changed, 9 insertions(+), 14 deletions(-) diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 27b85ef67..1fb2b8df1 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -34,22 +34,17 @@ typedef FastVector FactorIndices; typedef FastSet FactorIndexSet; /** - * This is the base class for all factor types. It is templated on a KEY type, - * which will be the type used to label variables. Key types currently in use - * in gtsam are Index with symbolic (IndexFactor, SymbolicFactorGraph) and - * Gaussian factors (GaussianFactor, JacobianFactor, HessianFactor, GaussianFactorGraph), - * and Key with nonlinear factors (NonlinearFactor, NonlinearFactorGraph). - * though currently only IndexFactor and IndexConditional derive from this - * class, using Index keys. This class does not store any data other than its - * keys. Derived classes store data such as matrices and probability tables. + * This is the base class for all factor types. This class does not store any + * data other than its keys. Derived classes store data such as matrices and + * probability tables. * - * Note that derived classes *must* redefine the ConditionalType and shared_ptr - * typedefs to refer to the associated conditional and shared_ptr types of the - * derived class. See IndexFactor, JacobianFactor, etc. for examples. + * Note that derived classes *must* redefine the `This` and `shared_ptr` + * typedefs. See JacobianFactor, etc. for examples. * - * This class is \b not virtual for performance reasons - derived symbolic classes, - * IndexFactor and IndexConditional, need to be created and destroyed quickly - * during symbolic elimination. GaussianFactor and NonlinearFactor are virtual. + * This class is \b not virtual for performance reasons - the derived class + * SymbolicFactor needs to be created and destroyed quickly during symbolic + * elimination. GaussianFactor and NonlinearFactor are virtual. + * * \nosubgrouping */ class GTSAM_EXPORT Factor