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Fixed comment

release/4.3a0
Richard Roberts 2014-03-06 15:44:49 -05:00
parent 488d47729f
commit fbbbac0db8
1 changed files with 5 additions and 3 deletions
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8
gtsam/linear/JacobianFactor-inl.h
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@ -80,9 +80,11 @@ namespace gtsam {
// Resize base class key vector // Resize base class key vector
Base::keys_.resize(terms.size()); Base::keys_.resize(terms.size());
// Gather dimensions - uses boost range adaptors to take terms, extract .second which are the // Construct block matrix - this uses the boost::range 'transformed' construct to apply
// matrices, then extract the number of columns e.g. dimensions in each matrix. Then joins with // internal::getColsJF (defined just above here in this file) to each term. This
// a single '1' to add a dimension for the b vector. // transforms the list of terms into a list of variable dimensions, by extracting the
// number of columns in each matrix. This is done to avoid separately allocating an
// array of dimensions before constructing the VerticalBlockMatrix.
Ab_ = VerticalBlockMatrix(terms | transformed(&internal::getColsJF), b.size(), true); Ab_ = VerticalBlockMatrix(terms | transformed(&internal::getColsJF), b.size(), true);
// Check and add terms // Check and add terms