12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/nonlinear/NonlinearFactorGraph.h
View File

@ -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