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update description of GaussianMixtureConditional

release/4.3a0
Varun Agrawal 2022-06-02 00:03:31 -04:00
parent 7c7b5dd030
commit 31ab1a32f3
1 changed files with 9 additions and 3 deletions
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12
gtsam/hybrid/GaussianMixtureConditional.h
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@ -27,13 +27,19 @@
namespace gtsam { 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 * 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 HybridFactor,
public Conditional<HybridFactor, GaussianMixtureConditional> { public Conditional<HybridFactor, GaussianMixtureConditional> {
public: public: