Fixed some comments

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

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

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;

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 

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).

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).

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

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

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
 

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
 

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

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 '*']);

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)