From a858ddb560e23b8d258120dbf58feb84e6ab476a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 12 Aug 2011 19:24:59 +0000 Subject: [PATCH] Added more comments to SimpleRotation in response to Stephen's comments --- examples/SimpleRotation.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/examples/SimpleRotation.cpp b/examples/SimpleRotation.cpp index c4e39316c..8d7242fd9 100644 --- a/examples/SimpleRotation.cpp +++ b/examples/SimpleRotation.cpp @@ -52,7 +52,9 @@ using namespace gtsam; * - a graph container acting on a given Values * * In a typical scenario, these typedefs could be placed in a header - * file and reused between projects. + * file and reused between projects. Also, LieValues can be combined to + * form a "TupleValues" to enable multiple variable types, such as 2D points + * and 2D poses. */ typedef TypedSymbol Key; /// Variable labels for a specific type typedef LieValues Values; /// Class to store values - acts as a state for the system @@ -111,6 +113,10 @@ int main() { * a linearization point for optimization, so it is important that * all of the variables in the graph have a corresponding value in * this structure. + * + * The interface to all Values types is the same, it only depends + * on the type of key used to find the appropriate value map if there + * are multiple types of variables. */ Values initial; initial.insert(key, Rot2::fromAngle(20 * degree));