12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

improving comments

release/4.3a0
morten 2025-01-16 17:57:29 +01:00
parent 94e96ab001
commit 4737f0d554
1 changed files with 5 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
gtsam/navigation/GPSFactor.h
View File

@ -24,8 +24,7 @@
namespace gtsam {
/**
* Prior on position in a Cartesian frame, assuming position prior is in body
* frame.
* Prior on position in a Cartesian frame.
* If there exists a non-zero lever arm between body frame and GPS
* antenna, instead use GPSFactorArm.
* Possibilities include:
@ -41,7 +40,7 @@ private:
typedef NoiseModelFactorN<Pose3> Base;
Point3 nT_; ///< Position measurement in cartesian coordinates
Point3 nT_; ///< Position measurement in cartesian coordinates (navigation frame)
public:
@ -127,7 +126,7 @@ private:
typedef NoiseModelFactorN<Pose3> Base;
Point3 nT_; ///< Position measurement in cartesian coordinates
Point3 nT_; ///< Position measurement in cartesian coordinates (navigation frame)
Point3 bL_; ///< bL_ is a lever arm in the body frame, denoting the 3D
///< position of the GPS antenna in the body frame
@ -190,7 +189,7 @@ private:
typedef NoiseModelFactorN<NavState> Base;
Point3 nT_; ///< Position measurement in cartesian coordinates
Point3 nT_; ///< Position measurement in cartesian coordinates (navigation frame)
public:
@ -262,7 +261,7 @@ private:
typedef NoiseModelFactorN<NavState> Base;
Point3 nT_; ///< Position measurement in cartesian coordinates
Point3 nT_; ///< Position measurement in cartesian coordinates (navigation frame)
Point3 bL_; ///< bL_ is a lever arm in the body frame, denoting the 3D
///< position of the GPS antenna in the body frame