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decargroup · Feb 5, 2024 · b02d6d1 · b02d6d1
1 parent af23e4c
commit b02d6d1
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/navlie/composite.py b/navlie/composite.py
@@ -570,8 +570,8 @@ def covariance(self, x: CompositeState) -> np.ndarray:
 class CompositeMeasurement(Measurement):
     def __init__(self, y: Measurement, state_id: Any):
         """
-        Converts a standard Measurement into a CompositeMeasurement, which
-        replaces the model with a CompositeMeasurementModel.
+        Converts a standard ``Measurement`` into a CompositeMeasurement, which
+        simply replaces the model with a CompositeMeasurementModel.
 
         Parameters
         ----------

diff --git a/navlie/filters.py b/navlie/filters.py
@@ -449,8 +449,8 @@ def correct(
 def generate_sigmapoints(
     dof: int, method: str
 ) -> Tuple[np.ndarray, np.ndarray]:
-    """Generates unit sigma points from three available
-    methods.
+    """
+    Generates unit sigma points from three available methods.
 
     Parameters
     ----------
@@ -466,7 +466,8 @@ def generate_sigmapoints(
     Returns
     -------
     Tuple[np.ndarray, np.ndarray]
-        returns the unit sigma points and the weights
+        returns the unit sigma points and the weights, respectively. For the 
+        sigmapoints, each *column* will represent a sigma point.
     """
     if method == "unscented":
         kappa = 2