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improve docstring

release/4.3a0
John Lambert 2021-03-10 10:23:11 -05:00
parent bddd7e68eb
commit 10b2465351
1 changed files with 4 additions and 0 deletions
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gtsam/geometry/tests/testSimilarity3.cpp
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@ -259,6 +259,10 @@ TEST(Similarity3, GroupAction) {
//****************************************************************************** //******************************************************************************
// Group action on Pose3 // Group action on Pose3
// Estimate Sim(3) object "aSb" from pose pairs {(aTi, bTi)}
// In the example below, let the "a" frame be the "world" frame below,
// and let the "b" frame be the "egovehicle" frame.
// Suppose within the egovehicle frame, we know the poses of two objects "o1" and "o2"
TEST(Similarity3, GroupActionPose3) { TEST(Similarity3, GroupActionPose3) {
// Suppose we know the pose of the egovehicle in the world frame // Suppose we know the pose of the egovehicle in the world frame
Similarity3 wSe(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0); Similarity3 wSe(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0);