add more docs

Author: dehann

src/ParametricUtils.jl

@@ -39,12 +39,18 @@ end
 """
     $SIGNATURES
 
-Returns the parametric measurement for a factor as a tuple (measurement, inverse covariance) for parametric inference (assumign Gaussian).
-Defaults to find the parametric measurement at field `Z` followed by `z`.
+Returns the parametric measurement for a factor as a tuple (measurement, inverse covariance) for parametric inference (assuming Gaussian).
+Defaults to find the parametric measurement at field `Zij`, `Z`, or `z`.
 
 Notes
 - Users should overload this method should their factor not default to `.Z<:ParametricType` or `.z<:ParametricType`
-- See https://github.com/JuliaRobotics/RoME.jl/issues/465
+- First design choice was to restrict this function to returning coordinates
+  - See https://github.com/JuliaRobotics/RoME.jl/issues/465
+  - Pay attention to which tangent space point is used for converting points on a manifold to coordinates,
+    - Originally written just for Lie Groups to support legacy, but future needs may well alter the design.
+- Original design driven by parametric solve and dead reckon tethering.
+
+See also: [`accumulateFactorMeans`](@ref), [`solveFactorParameteric`](@ref)
 """
 function getMeasurementParametric end
 

src/SolverUtilities.jl

@@ -9,14 +9,16 @@ function fastnorm(u)
   @fastmath @inbounds return sqrt(s)
 end
 
+
 """
     $SIGNATURES
 
 Helper function for IIF.getSample, to generate a vector of points regardless of the Manifold and probability density function used.
 
-Related
+DevNotes:
+- FIXME deprecate to `sample`, see JuliaRobotics/RoME.jl#465
 
-[`getSample`](@ref)
+See also: [`getSample`](@ref), [`rand`]
 """
 randToPoints(distr::SamplableBelief, N::Int=1) = [rand(distr,1)[:] for i in 1:N]
 randToPoints(distr::ManifoldKernelDensity, N::Int=1) = rand(distr,N)