From f3a3f8ebf63805da82c0aa6bd407195dd6ea9b49 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 2 Feb 2012 15:41:18 +0000 Subject: [PATCH] Comment fix --- gtsam/nonlinear/NonlinearFactorGraph.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 96beadf3d..1b1bba892 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -28,8 +28,8 @@ namespace gtsam { /** - * A non-linear factor graph is templated on a values structure, but the factor type - * is fixed as a NonlinearFactor. The values structures are typically (in SAM) more general + * A non-linear factor graph is a graph of non-Gaussian, i.e. non-linear factors, + * which derive from NonlinearFactor. The values structures are typically (in SAM) more general * than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds. * Linearizing the non-linear factor graph creates a linear factor graph on the * tangent vector space at the linearization point. Because the tangent space is a true