From 31ab1a32f3b93c9c7d2e97d95e9bd1c47013ef73 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 2 Jun 2022 00:03:31 -0400 Subject: [PATCH] update description of GaussianMixtureConditional --- gtsam/hybrid/GaussianMixtureConditional.h | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/gtsam/hybrid/GaussianMixtureConditional.h b/gtsam/hybrid/GaussianMixtureConditional.h index d12fa09d7..a743c00f3 100644 --- a/gtsam/hybrid/GaussianMixtureConditional.h +++ b/gtsam/hybrid/GaussianMixtureConditional.h @@ -27,13 +27,19 @@ namespace gtsam { /** - * @brief A conditional of gaussian mixtures indexed by discrete variables. + * @brief A conditional of gaussian mixtures indexed by discrete variables, as + * part of a Bayes Network. * * Represents the conditional density P(X | M, Z) where X is a continuous random - * variable, M is the discrete variable and Z is the set of measurements. + * variable, M is the selection of discrete variables corresponding to a subset + * of the Gaussian variables and Z is parent of this node + * + * The negative log-probability is given by \f$ \sum_{m=1}^M \pi_m \frac{1}{2} + * |Rx - (d - Sy - Tz - ...)|^2 \f$, where \f$ \pi_m \f$ is the mixing + * coefficient. * */ -class GaussianMixtureConditional +class GTSAM_EXPORT GaussianMixtureConditional : public HybridFactor, public Conditional { public: