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Fixed likelihood

release/4.3a0
Frank Dellaert 2022-12-30 13:59:08 -05:00
parent ff51f4221e
commit 395ffad979
1 changed files with 1 additions and 1 deletions
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gtsam/hybrid/GaussianMixture.cpp
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@ -153,7 +153,7 @@ boost::shared_ptr<GaussianMixtureFactor> GaussianMixture::likelihood(
conditionals_, [&](const GaussianConditional::shared_ptr &conditional) { conditionals_, [&](const GaussianConditional::shared_ptr &conditional) {
return GaussianMixtureFactor::FactorAndConstant{ return GaussianMixtureFactor::FactorAndConstant{
conditional->likelihood(frontals), conditional->likelihood(frontals),
0.5 * conditional->logDeterminant()}; conditional->logNormalizationConstant()};
}); });
return boost::make_shared<GaussianMixtureFactor>( return boost::make_shared<GaussianMixtureFactor>(
continuousParentKeys, discreteParentKeys, likelihoods); continuousParentKeys, discreteParentKeys, likelihoods);