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

improved GaussianConditional docstring

release/4.3a0
Varun Agrawal 2023-11-09 15:37:34 -05:00
parent 90a9e6f746
commit 66a3c084f1
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/linear/GaussianConditional.h
View File

@ -31,8 +31,10 @@ namespace gtsam {
/**
* A GaussianConditional functions as the node in a Bayes network.
* It has a set of parents y,z, etc. and implements a probability density on x.
* It has a set of parents y,z, etc. and implements a Gaussian probability density p(x | y, z) on x.
* The negative log-density is given by \f$ \frac{1}{2} |Rx - (d - Sy - Tz - ...)|^2 \f$
* The mean of the conditional density is \f$ R^{-1}(d - Sy - Tz - ...) \f$.
* The covariance of the conditional density is given by the noise model and is constrained to be diagonal.
* @ingroup linear
*/
class GTSAM_EXPORT GaussianConditional :