Grammer fixes from William Rucklidge.
Change-Id: Ia40df7a1d141eb2552694510453d1431bb0c8dce
diff --git a/docs/source/faqs.rst b/docs/source/faqs.rst
index 08ec0e5..a68ba77 100644
--- a/docs/source/faqs.rst
+++ b/docs/source/faqs.rst
@@ -56,8 +56,8 @@
resort, where it is simply not possible to write a templated
implementation of the cost function.
- In many cases where it is not possible to do analytic or automatic
- differentiation of the entire cost function. But it is generally
+ In many cases it is not possible to do analytic or automatic
+ differentiation of the entire cost function, but it is generally
the case that it is possible to decompose the cost function into
parts that need to be numerically differentiated and parts that can
be automatically or analytically differentiated.
@@ -76,8 +76,8 @@
function is the Coordinate transformation between the `ECEF
<http://en.wikipedia.org/wiki/ECEF>`_ and the `WGS84
<http://en.wikipedia.org/wiki/World_Geodetic_System>`_ where the
- conversion from WGS84 to ECEF is analytic, but the conversion back
- to ECEF uses an iterative algorithm. So how do you compute the
+ conversion from WGS84 from ECEF is analytic, but the conversion
+ back to ECEF uses an iterative algorithm. So how do you compute the
derivative of the ECEF to WGS84 transformation?
One obvious approach would be to numerically
@@ -147,7 +147,7 @@
5. For large bundle adjustment problems (a few thousand cameras or
more) use the ``ITERATIVE_SCHUR`` solver. There are a number of
- preconditioners choices here. ``SCHUR_JACOBI`` offers an
+ preconditioner choices here. ``SCHUR_JACOBI`` offers an
excellent balance of speed and accuracy. This is also the
recommended option if you are solving medium sized problems for
which ``DENSE_SCHUR`` is too slow but ``SuiteSparse`` is not
