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Update orientation_3d_stamped.h #385

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Update orientation_3d_stamped.h #385

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e72a2bb
Update orientation_3d_stamped.h
jakemclaughlin6 Nov 19, 2024
08fcc11
Update orientation_3d_stamped.h
jakemclaughlin6 Nov 19, 2024
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8 changes: 4 additions & 4 deletions fuse_variables/include/fuse_variables/orientation_3d_stamped.h
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Expand Up @@ -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 manifold uses the
* Rodrigues/angle-axis formulas to combine 3D rotations, along with the appropriate "analytic" derivatives.
*/
class Orientation3DManifold : public fuse_core::Manifold
{
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