Fixed some comments

release/4.3a0
Frank Dellaert 2012-09-08 05:28:25 +00:00
parent 3e8544880a
commit e663d54c3c
13 changed files with 15 additions and 13 deletions

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function [data,truth] = VisualISAMGenerateData(options)
% VisualISAMGenerateData: create data for viusalSLAM::iSAM examples
% VisualISAMGenerateData creates data for viusalSLAM::iSAM examples
% Authors: Duy Nguyen Ta and Frank Dellaert
%% Generate simulated data

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function [noiseModels,isam,result,nextPoseIndex] = VisualISAMInitialize(data,truth,options)
% VisualInitialize: initialize visualSLAM::iSAM object and noise parameters
% VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters
% Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham
%% Initialize iSAM

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function VisualISAMPlot(truth, data, isam, result, options)
% VisualISAMPlot: plot current state of ISAM2 object
% VisualISAMPlot plots current state of ISAM2 object
% Authors: Duy Nguyen Ta and Frank Dellaert
h=gca;

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function [isam,result,nextPoseIndex] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPoseIndex)
% VisualISAMStep: execute one update step of visualSLAM::iSAM object
% VisualISAMStep executes one update step of visualSLAM::iSAM object
% Authors: Duy Nguyen Ta and Frank Dellaert
% iSAM expects us to give it a new set of factors

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function values = circlePose2(numPoses, radius, symbolChar)
% circlePose3: generate a set of poses in a circle. This function
% circlePose2 generates a set of poses in a circle. This function
% returns those poses inside a gtsam.Values object, with sequential
% keys starting from 0. An optional character may be provided, which
% will be stored in the msb of each key (i.e. gtsam.Symbol).

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function values = circlePose3(numPoses, radius, symbolChar)
% circlePose3: generate a set of poses in a circle. This function
% circlePose3 generates a set of poses in a circle. This function
% returns those poses inside a gtsam.Values object, with sequential
% keys starting from 0. An optional character may be provided, which
% will be stored in the msb of each key (i.e. gtsam.Symbol).

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function covarianceEllipse(x,P,color)
% covarianceEllipse: plot a Gaussian as an uncertainty ellipse
% covarianceEllipse plots a Gaussian as an uncertainty ellipse
% Based on Maybeck Vol 1, page 366
% k=2.296 corresponds to 1 std, 68.26% of all probability
% k=11.82 corresponds to 3 std, 99.74% of all probability

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function covarianceEllipse3D(c,P)
% covarianceEllipse3D: plot a Gaussian as an uncertainty ellipse
% covarianceEllipse3D plots a Gaussian as an uncertainty ellipse
% Based on Maybeck Vol 1, page 366
% k=2.296 corresponds to 1 std, 68.26% of all probability
% k=11.82 corresponds to 3 std, 99.74% of all probability

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function [graph,initial] = load3D(filename,model,successive,N)
% load3D: read TORO 3D pose graph
% load3D reads a TORO-style 3D pose graph
% cannot read noise model from file yet, uses specified model
% if [successive] is tru, constructs initial estimate from odometry

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function plot3DTrajectory(values,linespec,frames,scale,marginals)
% plot3DTrajectory
% plot3DTrajectory plots a 3D trajectory
% plot3DTrajectory(values,linespec,frames,scale,marginals)
if ~exist('scale','var') || isempty(scale), scale=1; end
if ~exist('frames','var'), scale=[]; end

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function plotPoint2(p,color,P)
% plotPoint2: show a Point2, possibly with covariance matrix
% plotPoint2 shows a Point2, possibly with covariance matrix
if size(color,2)==1
plot(p.x,p.y,[color '*']);
else

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function plotPose2(pose,color,P,axisLength)
% plotPose2: show a Pose2, possibly with covariance matrix
% plotPose2 shows a Pose2, possibly with covariance matrix
if nargin<4,axisLength=0.1;end
plot(pose.x,pose.y,[color '*']);

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function plotPose3(pose, P, axisLength)
% plotPose3: show a Pose, possibly with covariance matrix
% plotPose3 shows a Pose, possibly with covariance matrix
if nargin<3,axisLength=0.1;end
% get rotation and translation (center)