From 3c7836cf4d8617c53f3accfcf99244d2bab8dfa6 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Mon, 13 Jun 2011 20:40:44 +0000
Subject: [PATCH] comments only

---
 gtsam/linear/JacobianFactor.cpp | 2 +-
 gtsam/linear/NoiseModel.h       | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index ed468bf0d..77ba0f217 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -409,7 +409,7 @@ namespace gtsam {
 
     if(debug) cout << "frontalDim = " << frontalDim << endl;
 
-    // Use in-place QR or Cholesky on dense Ab appropriate to NoiseModel
+    // Use in-place QR dense Ab appropriate to NoiseModel
     tic(2, "QR");
     SharedDiagonal noiseModel = model_->QR(matrix_);
     toc(2, "QR");
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 1bbf34dde..73368e299 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -182,6 +182,7 @@ namespace gtsam {
 
 			/**
 			 * Cholesky factorization
+			 * FIXME: this is never used anywhere
 			 */
 			virtual SharedDiagonal Cholesky(Matrix& Ab, size_t nFrontals) const;