From 8d4fb8b854a3d83819980896e25516006af9a09b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 23 Dec 2022 12:26:11 +0530
Subject: [PATCH] fix doxygen issues

---
 gtsam/base/treeTraversal-inst.h |  6 ++++--
 gtsam/linear/LossFunctions.h    | 26 +++++++++++++-------------
 2 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
index be45a248ef..0578143f00 100644
--- a/gtsam/base/treeTraversal-inst.h
+++ b/gtsam/base/treeTraversal-inst.h
@@ -138,6 +138,8 @@ void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
 /** Traverse a forest depth-first with pre-order and post-order visits.
  *  @param forest The forest of trees to traverse.  The method \c forest.roots() should exist
  *         and return a collection of (shared) pointers to \c FOREST::Node.
+ *  @param rootData The data to pass by reference to \c visitorPre when it is called on each
+ *         root node.
  *  @param visitorPre \c visitorPre(node, parentData) will be called at every node, before
  *         visiting its children, and will be passed, by reference, the \c DATA object returned
  *         by the visit to its parent.  Likewise, \c visitorPre should return the \c DATA object
@@ -147,8 +149,8 @@ void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
  *  @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting
  *         its children, and will be passed, by reference, the \c DATA object returned by the
  *         call to \c visitorPre (the \c DATA object may be modified by visiting the children).
- *  @param rootData The data to pass by reference to \c visitorPre when it is called on each
- *         root node. */
+ *  @param problemSizeThreshold
+ */
 template<class FOREST, typename DATA, typename VISITOR_PRE,
     typename VISITOR_POST>
 void DepthFirstForestParallel(FOREST& forest, DATA& rootData,
diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h
index d9cfc1f3c3..e227d71623 100644
--- a/gtsam/linear/LossFunctions.h
+++ b/gtsam/linear/LossFunctions.h
@@ -89,7 +89,7 @@ class GTSAM_EXPORT Base {
    * functions. It would be better for this function to accept the vector and
    * internally call the norm if necessary.
    *
-   * This returns \rho(x) in \ref mEstimator
+   * This returns \f$\rho(x)\f$ in \ref mEstimator
    */
   virtual double loss(double distance) const { return 0; }
 
@@ -141,9 +141,9 @@ class GTSAM_EXPORT Base {
  *
  *  This model has no additional parameters.
  *
- * - Loss       \rho(x)          = 0.5 x²
- * - Derivative \phi(x)          = x
- * - Weight     w(x) = \phi(x)/x = 1
+ * - Loss       \f$ \rho(x)          = 0.5 x² \f$
+ * - Derivative \f$ \phi(x)          = x \f$
+ * - Weight     \f$ w(x) = \phi(x)/x = 1 \f$
  */
 class GTSAM_EXPORT Null : public Base {
  public:
@@ -275,9 +275,9 @@ class GTSAM_EXPORT Cauchy : public Base {
  *
  *  This model has a scalar parameter "c".
  *
- * - Loss       \rho(x) = c² (1 - (1-x²/c²)³)/6  if |x|<c,  c²/6   otherwise
- * - Derivative \phi(x) = x(1-x²/c²)² if |x|<c,  0   otherwise
- * - Weight     w(x) = \phi(x)/x = (1-x²/c²)² if |x|<c,  0   otherwise
+ * - Loss       \f$ \rho(x) = c² (1 - (1-x²/c²)³)/6 \f$  if |x|<c,  c²/6   otherwise
+ * - Derivative \f$ \phi(x) = x(1-x²/c²)² if |x|<c \f$,  0   otherwise
+ * - Weight     \f$ w(x) = \phi(x)/x = (1-x²/c²)² \f$ if |x|<c,  0   otherwise
  */
 class GTSAM_EXPORT Tukey : public Base {
  protected:
@@ -308,9 +308,9 @@ class GTSAM_EXPORT Tukey : public Base {
  *
  *  This model has a scalar parameter "c".
  *
- * - Loss       \rho(x) = -0.5 c² (exp(-x²/c²) - 1)
- * - Derivative \phi(x) = x exp(-x²/c²)
- * - Weight     w(x) = \phi(x)/x = exp(-x²/c²)
+ * - Loss       \f$ \rho(x) = -0.5 c² (exp(-x²/c²) - 1) \f$
+ * - Derivative \f$ \phi(x) = x exp(-x²/c²) \f$
+ * - Weight     \f$ w(x) = \phi(x)/x = exp(-x²/c²) \f$
  */
 class GTSAM_EXPORT Welsch : public Base {
  protected:
@@ -421,9 +421,9 @@ class GTSAM_EXPORT DCS : public Base {
  *
  *  This model has a scalar parameter "k".
  *
- * - Loss       \rho(x) = 0 if |x|<k,    0.5(k-|x|)² otherwise
- * - Derivative \phi(x) = 0 if |x|<k, (-k+x) if x>k,  (k+x) if x<-k
- * - Weight     w(x) = \phi(x)/x = 0 if |x|<k, (-k+x)/x if x>k,  (k+x)/x if x<-k
+ * - Loss       \f$ \rho(x) = 0 \f$ if |x|<k,    0.5(k-|x|)² otherwise
+ * - Derivative \f$ \phi(x) = 0 \f$ if |x|<k, (-k+x) if x>k,  (k+x) if x<-k
+ * - Weight     \f$ w(x) = \phi(x)/x = 0 \f$ if |x|<k, (-k+x)/x if x>k,  (k+x)/x if x<-k
  */
 class GTSAM_EXPORT L2WithDeadZone : public Base {
  protected: