From 4737f0d554040ac111c735a5782fc2b6ce47fb4c Mon Sep 17 00:00:00 2001 From: morten Date: Thu, 16 Jan 2025 17:57:29 +0100 Subject: [PATCH] improving comments --- gtsam/navigation/GPSFactor.h | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h index 75249e42e..d911122e8 100644 --- a/gtsam/navigation/GPSFactor.h +++ b/gtsam/navigation/GPSFactor.h @@ -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 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 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 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 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