From e72a2bb55492be0c4891e6c078a0f796100a1fa6 Mon Sep 17 00:00:00 2001 From: Jake McLaughlin Date: Tue, 19 Nov 2024 15:26:57 -0500 Subject: [PATCH 1/2] Update orientation_3d_stamped.h --- .../include/fuse_variables/orientation_3d_stamped.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/fuse_variables/include/fuse_variables/orientation_3d_stamped.h b/fuse_variables/include/fuse_variables/orientation_3d_stamped.h index 221eab6de..f265622ad 100644 --- a/fuse_variables/include/fuse_variables/orientation_3d_stamped.h +++ b/fuse_variables/include/fuse_variables/orientation_3d_stamped.h @@ -164,11 +164,11 @@ class Orientation3DLocalParameterization : public fuse_core::LocalParameterizati #if CERES_SUPPORTS_MANIFOLDS /** - * @brief A Manifold class for 2D Orientations. + * @brief A Manifold class for 3D Orientations. * - * 2D orientations add and subtract in the "usual" way, except for the 2*pi rollover issue. This local parameterization - * handles the rollover. Because the Jacobians for this parameterization are always identity, we implement this - * parameterization with "analytic" derivatives, instead of using the Ceres's autodiff system. + * 3D orientations add and subtract nonlinearly. Additionally, the typcial 3D orientation representation is a + * quaternion, which has 4 degrees of freedom to parameterize a 3D space. This local parameterization uses the + * Rodrigues/angle-axis formulas to combine 3D rotations, along with the appropriate "analytic" derivatives. */ class Orientation3DManifold : public fuse_core::Manifold { From 08fcc1179a43af4c641d8ec862399cb6b69783e1 Mon Sep 17 00:00:00 2001 From: Jake McLaughlin Date: Tue, 19 Nov 2024 15:27:42 -0500 Subject: [PATCH 2/2] Update orientation_3d_stamped.h --- fuse_variables/include/fuse_variables/orientation_3d_stamped.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fuse_variables/include/fuse_variables/orientation_3d_stamped.h b/fuse_variables/include/fuse_variables/orientation_3d_stamped.h index f265622ad..aee202d17 100644 --- a/fuse_variables/include/fuse_variables/orientation_3d_stamped.h +++ b/fuse_variables/include/fuse_variables/orientation_3d_stamped.h @@ -167,7 +167,7 @@ class Orientation3DLocalParameterization : public fuse_core::LocalParameterizati * @brief A Manifold class for 3D Orientations. * * 3D orientations add and subtract nonlinearly. Additionally, the typcial 3D orientation representation is a - * quaternion, which has 4 degrees of freedom to parameterize a 3D space. This local parameterization uses the + * quaternion, which has 4 degrees of freedom to parameterize a 3D space. This manifold uses the * Rodrigues/angle-axis formulas to combine 3D rotations, along with the appropriate "analytic" derivatives. */ class Orientation3DManifold : public fuse_core::Manifold