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Comment fix

release/4.3a0
Richard Roberts 2012-01-14 01:38:40 +00:00
parent 8c1695a247
commit ce48f9a25c
1 changed files with 6 additions and 3 deletions
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gtsam/geometry/Rot3.h
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@ -238,10 +238,13 @@ namespace gtsam {
size_t dim() const { return dimension; } size_t dim() const { return dimension; }
/** /**
* The method [retract] is used to map from the tangent space back to the manifold. * The method retract() is used to map from the tangent space back to the manifold.
* Its inverse, is [localCoordinates]. For Lie groups, an obvious retraction is the * Its inverse, is localCoordinates(). For Lie groups, an obvious retraction is the
* exponential map, but this can be expensive to compute. The following Enum is used * exponential map, but this can be expensive to compute. The following Enum is used
* to indicate which method should be used (default ROT3_DEFAULT_COORDINATES_MODE). * to indicate which method should be used. The default
* is determined by ROT3_DEFAULT_COORDINATES_MODE, which may be set at compile time,
* and itself defaults to Rot3::CAYLEY, or if GTSAM_DEFAULT_QUATERNIONS is defined,
* to Rot3::EXPMAP.
*/ */
enum CoordinatesMode { enum CoordinatesMode {
EXPMAP, ///< Use the Lie group exponential map to retract EXPMAP, ///< Use the Lie group exponential map to retract