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release/4.3a0
Frank Dellaert 2023-01-16 18:56:25 -08:00
parent 9af7236980
commit 519b2bb515
1 changed files with 2 additions and 1 deletions
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gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -268,7 +268,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
// DiscreteFactor here, with the error for each discrete choice. // DiscreteFactor here, with the error for each discrete choice.
if (continuousSeparator.empty()) { if (continuousSeparator.empty()) {
auto probPrime = [&](const EliminationPair &pair) { auto probPrime = [&](const EliminationPair &pair) {
// This is the unnormalized probability q(μ) at the mean. // This is the unnormalized probability q(μ;m) at the mean.
// q(μ;m) = exp(-error(μ;m)) * sqrt(det(2π Σ_m))
// The factor has no keys, just contains the residual. // The factor has no keys, just contains the residual.
static const VectorValues kEmpty; static const VectorValues kEmpty;
return pair.second ? exp(-pair.second->error(kEmpty)) / return pair.second ? exp(-pair.second->error(kEmpty)) /