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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
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gtsam/linear/GaussianConditional.h
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@ -31,8 +31,10 @@ namespace gtsam {
/** /**
* A GaussianConditional functions as the node in a Bayes network. * 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 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 * @ingroup linear
*/ */
class GTSAM_EXPORT GaussianConditional : class GTSAM_EXPORT GaussianConditional :