Skip to content

Commit 14d6c59

Browse files
Affiedehann
andauthored
Update docs/src/GraphData.md
Co-authored-by: Dehann Fourie <6412556+dehann@users.noreply.github.com>
1 parent d2667ce commit 14d6c59

1 file changed

Lines changed: 3 additions & 1 deletion

File tree

docs/src/GraphData.md

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -52,7 +52,9 @@ Each variable or factor can have a timestamp associated with it representing whe
5252

5353
**Event Time vs Database Time**: The timestamp represents the physical event time (when a sensor measurement was taken, when a robot was at a pose, etc.), not when the variable was added to the database. Database metadata timestamps may be tracked separately by specific backend implementations.
5454

55-
**Temporal Uncertainty**: This single timestamp value is metadata and does not represent temporal uncertainty in non-parametric beliefs. For problems where time itself is a state variable requiring inference (e.g., using `SGal3` which includes temporal components), include time as part of your state type rather than relying on this metadata field.
55+
**Temporal Uncertainty**: This single timestamp value is metadata and does not represent temporal uncertainty. For problems where time itself is a state variable requiring inference (e.g., using `SGal3` which includes temporal components), include time as part of your state type rather than relying on this metadata field. Furthermore, the concept of "ClockPriors" is also at play for the API design changes relating to v2.
56+
57+
**Future**: changing away from field name `timestamp` was deferred from v1.0 owing to resolution of older complexity of other fields being standardized; however, the desire for a better name exists and should be revisited in the v2 API. At time of writing, the best summary of the naming debate is captured here: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/1087#issuecomment-3582252305. In the lead up to a new long term release (a.k.a semver major), a deprecation cycle will be used via semver minors to ensure users have an easy and macro-aided transition in the API.
5658

5759
Related functions:
5860

0 commit comments

Comments
 (0)