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update basis module

release/4.3a0
Varun Agrawal 2022-07-26 16:48:00 -04:00
parent eaac392f37
commit 95b86356ac
2 changed files with 5 additions and 5 deletions
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4
gtsam/basis/Basis.h
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@ -79,7 +79,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
* @param w The weights of the polynomial. * @param w The weights of the polynomial.
* @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I] * @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I]
* *
* @ingroup Basis * @ingroup basis
*/ */
template <size_t M> template <size_t M>
Matrix kroneckerProductIdentity(const Weights& w) { Matrix kroneckerProductIdentity(const Weights& w) {
@ -94,7 +94,7 @@ Matrix kroneckerProductIdentity(const Weights& w) {
/** /**
* CRTP Base class for function bases * CRTP Base class for function bases
* @ingroup Basis * @ingroup basis
*/ */
template <typename DERIVED> template <typename DERIVED>
class Basis { class Basis {

6
gtsam/basis/BasisFactors.h
View File

@ -33,7 +33,7 @@ namespace gtsam {
* Example, degree 8 Chebyshev polynomial measured at x=0.5: * Example, degree 8 Chebyshev polynomial measured at x=0.5:
* EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5); * EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5);
* *
* @ingroup Basis * @ingroup basis
*/ */
template <class BASIS> template <class BASIS>
class EvaluationFactor : public FunctorizedFactor<double, Vector> { class EvaluationFactor : public FunctorizedFactor<double, Vector> {
@ -89,7 +89,7 @@ class EvaluationFactor : public FunctorizedFactor<double, Vector> {
* @param BASIS: The basis class to use e.g. Chebyshev2 * @param BASIS: The basis class to use e.g. Chebyshev2
* @param M: Size of the evaluated state vector. * @param M: Size of the evaluated state vector.
* *
* @ingroup Basis * @ingroup basis
*/ */
template <class BASIS, int M> template <class BASIS, int M>
class VectorEvaluationFactor class VectorEvaluationFactor
@ -154,7 +154,7 @@ class VectorEvaluationFactor
* N, i, t, a, b); * N, i, t, a, b);
* where N is the degree and i is the component index. * where N is the degree and i is the component index.
* *
* @ingroup Basis * @ingroup basis
*/ */
template <class BASIS, size_t P> template <class BASIS, size_t P>
class VectorComponentFactor class VectorComponentFactor