diff --git a/matlab/+gtsam/VisualISAMGenerateData.m b/matlab/+gtsam/VisualISAMGenerateData.m index 2e972d9af..b3b602afe 100644 --- a/matlab/+gtsam/VisualISAMGenerateData.m +++ b/matlab/+gtsam/VisualISAMGenerateData.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/VisualISAMInitialize.m b/matlab/+gtsam/VisualISAMInitialize.m index b29288fdf..8da23a1ec 100644 --- a/matlab/+gtsam/VisualISAMInitialize.m +++ b/matlab/+gtsam/VisualISAMInitialize.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/VisualISAMPlot.m b/matlab/+gtsam/VisualISAMPlot.m index cd7ab188e..a6a677723 100644 --- a/matlab/+gtsam/VisualISAMPlot.m +++ b/matlab/+gtsam/VisualISAMPlot.m @@ -1,5 +1,5 @@ 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; diff --git a/matlab/+gtsam/VisualISAMStep.m b/matlab/+gtsam/VisualISAMStep.m index 71b1c849c..25b4c1027 100644 --- a/matlab/+gtsam/VisualISAMStep.m +++ b/matlab/+gtsam/VisualISAMStep.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/circlePose2.m b/matlab/+gtsam/circlePose2.m index 0679c16b3..a2606ec06 100644 --- a/matlab/+gtsam/circlePose2.m +++ b/matlab/+gtsam/circlePose2.m @@ -1,5 +1,5 @@ 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). diff --git a/matlab/+gtsam/circlePose3.m b/matlab/+gtsam/circlePose3.m index 9085ab0d0..686bce7cf 100644 --- a/matlab/+gtsam/circlePose3.m +++ b/matlab/+gtsam/circlePose3.m @@ -1,5 +1,5 @@ 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). diff --git a/matlab/+gtsam/covarianceEllipse.m b/matlab/+gtsam/covarianceEllipse.m index b4579862e..7728fc866 100644 --- a/matlab/+gtsam/covarianceEllipse.m +++ b/matlab/+gtsam/covarianceEllipse.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/covarianceEllipse3D.m b/matlab/+gtsam/covarianceEllipse3D.m index d3ef1f8a7..9682a9fc1 100644 --- a/matlab/+gtsam/covarianceEllipse3D.m +++ b/matlab/+gtsam/covarianceEllipse3D.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/load3D.m b/matlab/+gtsam/load3D.m index c0ccd545f..94202e0c8 100644 --- a/matlab/+gtsam/load3D.m +++ b/matlab/+gtsam/load3D.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/plot3DTrajectory.m b/matlab/+gtsam/plot3DTrajectory.m index 1cd35c22f..d24e21297 100644 --- a/matlab/+gtsam/plot3DTrajectory.m +++ b/matlab/+gtsam/plot3DTrajectory.m @@ -1,5 +1,7 @@ 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 diff --git a/matlab/+gtsam/plotPoint2.m b/matlab/+gtsam/plotPoint2.m index e62804ce3..55e476118 100644 --- a/matlab/+gtsam/plotPoint2.m +++ b/matlab/+gtsam/plotPoint2.m @@ -1,5 +1,5 @@ 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 diff --git a/matlab/+gtsam/plotPose2.m b/matlab/+gtsam/plotPose2.m index c7fba28ed..799bad48e 100644 --- a/matlab/+gtsam/plotPose2.m +++ b/matlab/+gtsam/plotPose2.m @@ -1,5 +1,5 @@ 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 '*']); diff --git a/matlab/+gtsam/plotPose3.m b/matlab/+gtsam/plotPose3.m index e2c254e39..8c3c7dd76 100644 --- a/matlab/+gtsam/plotPose3.m +++ b/matlab/+gtsam/plotPose3.m @@ -1,5 +1,5 @@ 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)