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improved comments

release/4.3a0
Varun Agrawal 2022-12-22 07:19:47 +05:30
parent 80000b7e1b
commit 0bbd279bbb
2 changed files with 3 additions and 4 deletions
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1
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -261,6 +261,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
if (!factor) { if (!factor) {
return 0.0; // If nullptr, return 0.0 probability return 0.0; // If nullptr, return 0.0 probability
} else { } else {
// This is the probability q(μ) at the MLE point.
double error = double error =
0.5 * std::abs(factor->augmentedInformation().determinant()); 0.5 * std::abs(factor->augmentedInformation().determinant());
return std::exp(-error); return std::exp(-error);

6
gtsam/hybrid/HybridGaussianFactorGraph.h
View File

@ -252,8 +252,8 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
} }
/** /**
* @brief Compute the unnormalized probabilities of the continuous variables * @brief Compute the unnormalized probabilities P(X | M, Z)
* for each of the modes. * of the continuous variables for each of the mode sequences.
* *
* @tparam BAYES Template on the type of Bayes graph, either a bayes net or a * @tparam BAYES Template on the type of Bayes graph, either a bayes net or a
* bayes tree. * bayes tree.
@ -304,8 +304,6 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
std::pair<Ordering, Ordering> separateContinuousDiscreteOrdering( std::pair<Ordering, Ordering> separateContinuousDiscreteOrdering(
const Ordering& ordering) const; const Ordering& ordering) const;
/** /**
* @brief Return a Colamd constrained ordering where the discrete keys are * @brief Return a Colamd constrained ordering where the discrete keys are
* eliminated after the continuous keys. * eliminated after the continuous keys.