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Adapt to continuous densities

release/4.3a0
Frank Dellaert 2023-01-14 10:23:00 -08:00
parent 0a6334ef1f
commit 693d18233a
2 changed files with 7 additions and 6 deletions
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11
gtsam/inference/Conditional-inst.h
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@ -68,12 +68,13 @@ template <class FACTOR, class DERIVEDCONDITIONAL>
template <class VALUES> template <class VALUES>
bool Conditional<FACTOR, DERIVEDCONDITIONAL>::CheckInvariants( bool Conditional<FACTOR, DERIVEDCONDITIONAL>::CheckInvariants(
const DERIVEDCONDITIONAL& conditional, const VALUES& values) { const DERIVEDCONDITIONAL& conditional, const VALUES& values) {
const double probability = conditional.evaluate(values); const double prob_or_density = conditional.evaluate(values);
if (probability < 0.0 || probability > 1.0) if (prob_or_density < 0.0) return false; // prob_or_density is negative.
return false; // probability is not in [0,1] if (std::abs(prob_or_density - conditional(values)) > 1e-9)
return false; // operator and evaluate differ
const double logProb = conditional.logProbability(values); const double logProb = conditional.logProbability(values);
if (std::abs(probability - std::exp(logProb)) > 1e-9) if (std::abs(prob_or_density - std::exp(logProb)) > 1e-9)
return false; // logProb is not consistent with probability return false; // logProb is not consistent with prob_or_density
const double expected = const double expected =
conditional.logNormalizationConstant() - conditional.error(values); conditional.logNormalizationConstant() - conditional.error(values);
if (std::abs(logProb - expected) > 1e-9) if (std::abs(logProb - expected) > 1e-9)

2
gtsam/linear/GaussianConditional.h
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@ -34,7 +34,7 @@ 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 probability density on x.
* The negative log-probability 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$
* @ingroup linear * @ingroup linear
*/ */
class GTSAM_EXPORT GaussianConditional : class GTSAM_EXPORT GaussianConditional :