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Comment fix

release/4.3a0
Richard Roberts 2012-02-02 15:41:18 +00:00
parent aeeb35f7db
commit f3a3f8ebf6
1 changed files with 2 additions and 2 deletions
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gtsam/nonlinear/NonlinearFactorGraph.h
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@ -28,8 +28,8 @@
namespace gtsam { namespace gtsam {
/** /**
* A non-linear factor graph is templated on a values structure, but the factor type * A non-linear factor graph is a graph of non-Gaussian, i.e. non-linear factors,
* is fixed as a NonlinearFactor. The values structures are typically (in SAM) more general * 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. * 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 * 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 * tangent vector space at the linearization point. Because the tangent space is a true