[documentation] minor readme cleanup

README.md

@@ -232,20 +232,18 @@ The member types are optionally present according to the filter configuration.
 
 | Characteristic | Definition |
 | --- | --- |
-| `f` | Manages the state transition matrix *F*. Gets the value. Initializes and sets the value. Configures the callable object of expression `state_transition(const state &, const input &, const PredictionTypes &...)` to compute the value. The default value is the identity matrix. |
-| `g` | Manages the control transition matrix *G*. Gets the value. Initializes and sets the value. Configures the callable object of expression `input_control(const PredictionTypes &...)` to compute the value. The default value is the identity matrix. This member function is defined only if the filter supports input control. |
-| `h` | Manages the observation transition matrix *H*. Gets the value. Initializes and sets the value. Configures the callable object of expression `output_model(const state &, const UpdateTypes &...)` to compute the value. The default value is the identity matrix. This member function is defined only if the filter supports output model. |
+| `f` | Manages the state transition matrix *F*. Gets or sets the value. Configures the callable object of expression `state_transition(const state &, const input &, const PredictionTypes &...)` to compute the value. The default value is the identity matrix. |
+| `g` | Manages the control transition matrix *G*. Gets or sets the value. Configures the callable object of expression `input_control(const PredictionTypes &...)` to compute the value. The default value is the identity matrix. This member function is defined only if the filter supports input control. |
+| `h` | Manages the observation transition matrix *H*. Gets or sets the value. Configures the callable object of expression `output_model(const state &, const UpdateTypes &...)` to compute the value. The default value is the identity matrix. This member function is defined only if the filter supports output model. |
 | `k` | Manages the gain matrix *K*. Gets the value last computed during the update. The default value is the identity matrix. |
-| `p` | Manages the estimated covariance matrix *P*. Gets the value. Initializes and sets the value. The default value is the identity matrix. |
-| `q` | Manages the process noise covariance matrix *Q* from the process noise *w* expected value *E[wwᵀ]* and its variance *σ²* found by measuring, tuning, educated guesses of the noise. Gets the value. Initializes and sets the value. Configures the callable object of expression `process_uncertainty(const state &, const PredictionTypes &...)` to compute the value. The default value is the null matrix. |
-| `r` | Manages the observation, measurement noise covariance matrix *R* from the measurement noise *v* expected value *E[vvᵀ]* and its variance *σ²* found by measuring, tuning, educated guesses of the noise. Gets the value. Initializes and sets the value. Configures the callable object of expression `output_uncertainty(const state &, const output &, const UpdateTypes &...)` to compute the value. The default value is the null matrix. |
+| `p` | Manages the estimated covariance matrix *P*. Gets or sets the value. The default value is the identity matrix. |
+| `q` | Manages the process noise covariance matrix *Q* from the process noise *w* expected value *E[wwᵀ]* and its variance *σ²* found by measuring, tuning, educated guesses of the noise. Gets or sets the value. Configures the callable object of expression `process_uncertainty(const state &, const PredictionTypes &...)` to compute the value. The default value is the null matrix. |
+| `r` | Manages the observation, measurement noise covariance matrix *R* from the measurement noise *v* expected value *E[vvᵀ]* and its variance *σ²* found by measuring, tuning, educated guesses of the noise. Gets or sets the value. Configures the callable object of expression `output_uncertainty(const state &, const output &, const UpdateTypes &...)` to compute the value. The default value is the null matrix. |
 | `s` | Manages the innovation uncertainty matrix *S*. Gets the value last computed during the update. The default value is the identity matrix. |
 | `u` | Manages the control column vector *U*. Gets the value last used in prediction. This member function is defined only if the filter supports input. |
-| `x` | Manages the state estimate column vector *X*. Gets the value. Initializes and sets the value. The default value is the null column vector. |
+| `x` | Manages the state estimate column vector *X*. Gets or sets the value. The default value is the null column vector. |
 | `y` | Manages the innovation column vector *Y*. Gets the value last computed during the update. The default value is the null column vector. |
 | `z` | Manages the observation column vector *Z*. Gets the value last used during the update. The default value is the null column vector. |
-| `transition` | Manages the state transition function object *f*. Configures the callable object of expression `state(const state &, const input &, const PredictionTypes &...)` to compute the transition state value. The default value is the equivalent to *f(x) = F * X*. The default function is suitable for linear systems. For extended filters `transition` is a linearization of the state transition while *F* is the Jacobian of the transition function: *F = ∂f/∂X = ∂fj/∂xi* that is each row *i* contains the derivatives of the state transition function for every element *j* in the state column vector *X*. |
-| `observation` | Manages the state observation function object *h*. Configures the callable object of expression `output(const state &, const UpdateTypes &...arguments)` to compute the observation state value. The default value is the equivalent to *h(x) = H * X*. The default function is suitable for linear systems. For extended filters `observation` is a linearization of the state observation while *H* is the Jacobian of the observation function: *H = ∂h/∂X = ∂hj/∂xi* that is each row *i* contains the derivatives of the state observation function for every element *j* in the state vector *X*. |
 
 The characteristics are optionally present according to the filter configuration.