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fix conversion

release/4.3a0
Varun Agrawal 2024-09-20 12:20:49 -04:00
parent f3bfe7e1a1
commit 245f3e042e
1 changed files with 2 additions and 2 deletions
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4
gtsam/hybrid/HybridGaussianConditional.cpp
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@ -35,8 +35,8 @@ HybridGaussianFactor::FactorValuePairs GetFactorValuePairs(
double value = 0.0; double value = 0.0;
// Check if conditional is pruned // Check if conditional is pruned
if (conditional) { if (conditional) {
// Assign log(|2πΣ|) = -2*log(1 / sqrt(|2πΣ|)) // Assign log(\sqrt(|2πΣ|)) = -log(1 / sqrt(|2πΣ|))
value = -2.0 * conditional->logNormalizationConstant(); value = -conditional->logNormalizationConstant();
} }
return {std::dynamic_pointer_cast<GaussianFactor>(conditional), value}; return {std::dynamic_pointer_cast<GaussianFactor>(conditional), value};
}; };