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Added more comments to SimpleRotation in response to Stephen's comments

release/4.3a0
Alex Cunningham 2011-08-12 19:24:59 +00:00
parent b9b8250f36
commit a858ddb560
1 changed files with 7 additions and 1 deletions
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8
examples/SimpleRotation.cpp
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@ -52,7 +52,9 @@ using namespace gtsam;
* - a graph container acting on a given Values * - a graph container acting on a given Values
* *
* In a typical scenario, these typedefs could be placed in a header * 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<Rot2, 'x'> Key; /// Variable labels for a specific type typedef TypedSymbol<Rot2, 'x'> Key; /// Variable labels for a specific type
typedef LieValues<Key> Values; /// Class to store values - acts as a state for the system typedef LieValues<Key> 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 * a linearization point for optimization, so it is important that
* all of the variables in the graph have a corresponding value in * all of the variables in the graph have a corresponding value in
* this structure. * 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; Values initial;
initial.insert(key, Rot2::fromAngle(20 * degree)); initial.insert(key, Rot2::fromAngle(20 * degree));