Closed sanderson77 closed 9 years ago
Point taken. I agree somewhat but I mostly agree that we have to make extremely clear documentation of all of this in the library. So, both. Pick simple terms and document them clearly.
I think we can close this now as these functions names are now being imposed from GTSAM traits.
Currently, in CoefficientImplementation the function names and documentation use some very technical and specific terminology. It may be worth simplifying this?
one example: the "retract" function in this class is the function that updates the state values with a perturbation... I believe it has to do with manifold terminology, but maybe a more intuitive naming convention would be appropriate?
Much of the documentation also uses terms like, Chart and Ambient Space, which I did not understand today until I read about Atlas' and manifolds etc. We may want to consider our target audience if we plan to make this open source. I doubt this is common roboticist knowledge.