Fixed likelihood

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