From af271c480bef4de20dc6a1c5c7e4afb1131ad818 Mon Sep 17 00:00:00 2001 From: Paul-Edouard Sarlin Date: Fri, 17 May 2024 18:08:38 +0200 Subject: [PATCH] Add comment --- _pyceres/factors/bindings.h | 1 + 1 file changed, 1 insertion(+) diff --git a/_pyceres/factors/bindings.h b/_pyceres/factors/bindings.h index b9c20a5..2da2ae9 100644 --- a/_pyceres/factors/bindings.h +++ b/_pyceres/factors/bindings.h @@ -13,6 +13,7 @@ inline Eigen::MatrixXd SqrtInformation(const Eigen::MatrixXd& covariance) { return covariance.inverse().llt().matrixL(); } +// Mahalanobis squared distance between two parameters. class NormalError { public: explicit NormalError(const Eigen::MatrixXd& covariance)