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Fix document.

release/4.3a0
ss 2020-08-10 08:25:21 -04:00
parent 8425957e3f
commit e6b1599063
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/geometry/Similarity3.h
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@ -102,14 +102,14 @@ public:
OptionalJacobian<3, 7> H1 = boost::none, // OptionalJacobian<3, 7> H1 = boost::none, //
OptionalJacobian<3, 3> H2 = boost::none) const; OptionalJacobian<3, 3> H2 = boost::none) const;
/// Action on a pose T /// Action on a pose T, R = R*T.R, t = s(R*T.t+t)
GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const; GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const;
/** syntactic sugar for transformFrom */ /** syntactic sugar for transformFrom */
GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const; GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const;
/** /**
* Create Similarity3 by aligning two point pairs * Create Similarity3 by aligning at least three point pairs
*/ */
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs); GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
@ -119,7 +119,7 @@ public:
GTSAM_UNSTABLE_EXPORT static Rot3 rotationAveraging(const std::vector<Rot3>& rotations, double error = 1e-10); GTSAM_UNSTABLE_EXPORT static Rot3 rotationAveraging(const std::vector<Rot3>& rotations, double error = 1e-10);
/** /**
* Create Similarity3 by aligning two pose pairs * Create Similarity3 by aligning at least two pose pairs
*/ */
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs); GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);