12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
gtsam/hybrid/GaussianMixtureConditional.h
View File

@ -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<HybridFactor, GaussianMixtureConditional> {
public: