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Fix (very old) Factor documentation

release/4.3a0
Frank Dellaert 2023-01-06 16:04:05 -08:00
parent 408c14b837
commit ce27a8baa0
1 changed files with 9 additions and 14 deletions
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23
gtsam/inference/Factor.h
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@ -34,22 +34,17 @@ typedef FastVector<FactorIndex> FactorIndices;
typedef FastSet<FactorIndex> FactorIndexSet; typedef FastSet<FactorIndex> FactorIndexSet;
/** /**
* This is the base class for all factor types. It is templated on a KEY type, * This is the base class for all factor types. This class does not store any
* which will be the type used to label variables. Key types currently in use * data other than its keys. Derived classes store data such as matrices and
* in gtsam are Index with symbolic (IndexFactor, SymbolicFactorGraph) and * probability tables.
* 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.
* *
* Note that derived classes *must* redefine the ConditionalType and shared_ptr * Note that derived classes *must* redefine the `This` and `shared_ptr`
* typedefs to refer to the associated conditional and shared_ptr types of the * typedefs. See JacobianFactor, etc. for examples.
* derived class. See IndexFactor, JacobianFactor, etc. for examples.
* *
* This class is \b not virtual for performance reasons - derived symbolic classes, * This class is \b not virtual for performance reasons - the derived class
* IndexFactor and IndexConditional, need to be created and destroyed quickly * SymbolicFactor needs to be created and destroyed quickly during symbolic
* during symbolic elimination. GaussianFactor and NonlinearFactor are virtual. * elimination. GaussianFactor and NonlinearFactor are virtual.
*
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Factor class GTSAM_EXPORT Factor