From 809540cf58cd468fa7d74d479f78baabcadd8eed Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 5 Feb 2019 16:29:26 +0100
Subject: [PATCH] improved (not so much) documentation
---
src/constraint_analytic.h | 12 +++++-------
1 file changed, 5 insertions(+), 7 deletions(-)
diff --git a/src/constraint_analytic.h b/src/constraint_analytic.h
index 17ff4a079..93be1b1af 100644
--- a/src/constraint_analytic.h
+++ b/src/constraint_analytic.h
@@ -83,7 +83,6 @@ class ConstraintAnalytic: public ConstraintBase
/** \brief Evaluate the constraint given the input parameters and returning the residuals and jacobians
**/
- // TODO
virtual bool evaluate(Scalar const* const* parameters, Scalar* residuals, Scalar** jacobians) const override
{
// load parameters evaluation value
@@ -118,7 +117,7 @@ class ConstraintAnalytic: public ConstraintBase
return true;
};
- /** Returns the residual vetor and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
+ /** Returns the residual vector and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
**/
// TODO
virtual void evaluate(const std::vector<const Scalar*>& _states_ptr, Eigen::VectorXs& residual_, std::vector<Eigen::MatrixXs>& jacobians_) const override
@@ -132,9 +131,9 @@ class ConstraintAnalytic: public ConstraintBase
**/
virtual Eigen::VectorXs evaluateResiduals(const std::vector<Eigen::Map<const Eigen::VectorXs>>& _st_vector) const = 0;
- /** \brief Returns the jacobians evaluated in the states provided
+ /** \brief Returns the normalized jacobians evaluated in the states
*
- * Returns the jacobians evaluated in the states provided in std::vector of mapped Eigen::VectorXs.
+ * Returns the normalized (by the measurement noise sqrt information) jacobians evaluated in the states provided in std::vector of mapped Eigen::VectorXs.
* IMPORTANT: only fill the jacobians of the state blocks specified in _compute_jacobian.
*
* \param _st_vector is a vector containing the mapped eigen vectors of all state blocks involved in the constraint
@@ -144,11 +143,10 @@ class ConstraintAnalytic: public ConstraintBase
**/
virtual void evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXs>>& _st_vector, std::vector<Eigen::Map<Eigen::MatrixXs>>& jacobians, const std::vector<bool>& _compute_jacobian) const = 0;
- /** \brief Returns the pure jacobians (without measurement noise) evaluated in the state blocks values
+ /** \brief Returns the jacobians (without measurement noise normalization) evaluated in the current state blocks values
*
- * Returns the pure jacobians (without measurement noise) evaluated in the state blocks values
+ * Returns the jacobians (without measurement noise normalization) evaluated in the current state blocks values
*
- * \param _st_vector is a vector containing the mapped eigen vectors of all state blocks involved in the constraint
* \param jacobians is an output vector of mapped eigen matrices that sould contain the jacobians w.r.t each state block
*
**/
--
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