From 66a3c084f19cb7583630ac2459979949a77e68e0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Nov 2023 15:37:34 -0500 Subject: [PATCH] improved GaussianConditional docstring --- gtsam/linear/GaussianConditional.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 43d349b67..420efabca 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -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 :