From ce48f9a25c45b7bae8a2e9a60871f8bfa170496a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 14 Jan 2012 01:38:40 +0000 Subject: [PATCH] Comment fix --- gtsam/geometry/Rot3.h | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index e7eb1a889..a0775c449 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -238,10 +238,13 @@ namespace gtsam { size_t dim() const { return dimension; } /** - * The method [retract] is used to map from the tangent space back to the manifold. - * Its inverse, is [localCoordinates]. For Lie groups, an obvious retraction is the + * The method retract() is used to map from the tangent space back to the manifold. + * Its inverse, is localCoordinates(). For Lie groups, an obvious retraction is the * exponential map, but this can be expensive to compute. The following Enum is used - * to indicate which method should be used (default ROT3_DEFAULT_COORDINATES_MODE). + * to indicate which method should be used. The default + * is determined by ROT3_DEFAULT_COORDINATES_MODE, which may be set at compile time, + * and itself defaults to Rot3::CAYLEY, or if GTSAM_DEFAULT_QUATERNIONS is defined, + * to Rot3::EXPMAP. */ enum CoordinatesMode { EXPMAP, ///< Use the Lie group exponential map to retract