From efc264d8ee3c4704471488c982b768c1dccd57c4 Mon Sep 17 00:00:00 2001
From: yetongumich <yetong@umich.edu>
Date: Sun, 5 Apr 2020 14:20:44 -0400
Subject: [PATCH] revised comments

---
 gtsam/linear/NoiseModel.h | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index dff94c874..7349f6304 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -229,6 +229,9 @@ namespace gtsam {
       }
 #endif
 
+      /**
+       * error value 0.5 * v'*R'*R*v
+       */
       inline virtual double error(const Vector& v) const {
         return 0.5 * squaredMahalanobisDistance(v);
       }
@@ -478,7 +481,7 @@ namespace gtsam {
       }
 
       /**
-       * The distance function for a constrained noisemodel,
+       * The error function for a constrained noisemodel,
        * for non-constrained versions, uses sigmas, otherwise
        * uses the penalty function with mu
        */