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Fixed comments

release/4.3a0
dellaert 2014-02-01 09:00:36 -05:00
parent 419de466c0
commit d555c017d6
1 changed files with 13 additions and 14 deletions
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27
gtsam/navigation/MagFactor.h
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@ -31,10 +31,10 @@ namespace gtsam {
*/ */
class MagFactor: public NoiseModelFactor1<Rot2> { class MagFactor: public NoiseModelFactor1<Rot2> {
const Vector3 measured_; /** The measured magnetometer values */ const Vector3 measured_; ///< The measured magnetometer values
const double scale_; const double scale_; ///< Scale factor from direction to magnetometer readings
const Sphere2 direction_; const Sphere2 direction_; ///< Local magnetic field direction
const Vector3 bias_; const Vector3 bias_; ///< bias
public: public:
@ -88,10 +88,10 @@ public:
*/ */
class MagFactor1: public NoiseModelFactor1<Rot3> { class MagFactor1: public NoiseModelFactor1<Rot3> {
const Vector3 measured_; /** The measured magnetometer values */ const Vector3 measured_; ///< The measured magnetometer values
const double scale_; const double scale_; ///< Scale factor from direction to magnetometer readings
const Sphere2 direction_; const Sphere2 direction_; ///< Local magnetic field direction
const Vector3 bias_; const Vector3 bias_; ///< bias
public: public:
@ -130,13 +130,12 @@ public:
/** /**
* Factor to calibrate local Earth magnetic field as well as magnetometer bias * Factor to calibrate local Earth magnetic field as well as magnetometer bias
* This version uses model measured bM = bRn * nM + bias * This version uses model measured bM = bRn * nM + bias
* and optimizes for both nM and the bias. * and optimizes for both nM and the bias, where nM is in units defined by magnetometer
* Issue with it: expresses nM in units of magnetometer
*/ */
class MagFactor2: public NoiseModelFactor2<LieVector, LieVector> { class MagFactor2: public NoiseModelFactor2<LieVector, LieVector> {
Vector3 measured_; /** The measured magnetometer values */ const Vector3 measured_; ///< The measured magnetometer values
Matrix3 bRn_; /** The assumed known rotation from nav to body */ const Matrix3 bRn_; ///< The assumed known rotation from nav to body
public: public:
@ -178,8 +177,8 @@ public:
*/ */
class MagFactor3: public NoiseModelFactor3<LieScalar, Sphere2, LieVector> { class MagFactor3: public NoiseModelFactor3<LieScalar, Sphere2, LieVector> {
Vector3 measured_; /** The measured magnetometer values */ const Vector3 measured_; ///< The measured magnetometer values
Rot3 bRn_; /** The assumed known rotation from nav to body */ const Rot3 bRn_; ///< The assumed known rotation from nav to body
public: public: