[skip ci] Document boostrap

include/imu/processor/processor_imu.h

@@ -85,7 +85,6 @@ class ProcessorImu : public ProcessorMotion{
         void configure(SensorBasePtr _sensor) override { };
 
         void preProcess() override;
-        void bootstrapEnable(bool _bootstrap_enable = true);
 
       protected:
         void             computeCurrentDelta(const Eigen::VectorXd& _data,
@@ -126,14 +125,31 @@ class ProcessorImu : public ProcessorMotion{
         FeatureBasePtr   emplaceFeature(CaptureMotionPtr _capture_motion) override;
         FactorBasePtr    emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override;
 
-        virtual void     bootstrap() override;
-        CaptureBasePtr   bootstrapOrigin() const;
-        VectorXd         bootstrapDelta() const;
-        bool             recomputeStates() const;
+      public:
+        /** \brief Enable bootstrapping process
+         */
+        void bootstrapEnable(bool _bootstrap_enable = true);
+
+      protected:
+        /** \brief Bootstrap the IMU initial conditions
+         */
+        virtual void bootstrap() override;
+        /** \brief Get the Capture where the IMU data started the bootstrap
+         */
+        CaptureBasePtr bootstrapOrigin() const;
+        /** \brief Compose all preintegrated Deltas accumulated during the whole bootstrap process.
+         */
+        VectorXd bootstrapDelta() const;
+        /** \brief Incrementally compute all state values according to the current initial conditions and all
+         * preintegrated deltas.
+         * 
+         * This is executed at the end of the bootstrap process
+         */
+        bool recomputeStates() const;
 
       protected:
         ParamsProcessorImuPtr    params_motion_Imu_;
-        std::list<FactorBasePtr> list_fac_inactive_bootstrap_;
+        std::list<FactorBasePtr> list_fac_inactive_bootstrap_; ///< List of all IMU factors created while IMU is bootstrapping
 };
 }