documentation

include/core/processor/processor_tracker_feature.h

@@ -188,7 +188,7 @@ class ProcessorTrackerFeature : public ProcessorTracker
          */
         virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr) = 0;
 
-        /** \brief Establish factors between features in Captures \b last and \b origin
+        /** \brief Emplaces a new factor for each correspondence between a feature in Capture \b last and a feature in Capture \b origin
          */
         virtual void establishFactors();
 };

include/core/processor/processor_tracker_landmark.h

@@ -160,7 +160,7 @@ class ProcessorTrackerLandmark : public ProcessorTracker
                                                const CaptureBasePtr& _capture,
                                                FeatureBasePtrList& _features_out) = 0;
 
-        /** \brief Emplace a landmark for each of new_features_last_
+        /** \brief Emplace a landmark for each new feature of new_features_last_
          **/
         virtual void emplaceNewLandmarks();
 
@@ -178,7 +178,7 @@ class ProcessorTrackerLandmark : public ProcessorTracker
          */
         virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr, LandmarkBasePtr _landmark_ptr) = 0;
 
-        /** \brief Establish factors between features in Capture \b last and landmarks
+        /** \brief Emplaces a new factor for each correspondence between a feature in Capture \b last and a landmark
          */
         virtual void establishFactors();
 };