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release/4.3a0
Varun Agrawal 2024-01-03 16:26:05 -05:00
parent 0d058100e5
commit 82e0c0dae1
1 changed files with 4 additions and 1 deletions
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5
gtsam/linear/GaussianConditional.cpp
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@ -186,7 +186,10 @@ namespace gtsam {
size_t n = d().size(); size_t n = d().size();
// Sigma = (R'R)^{-1}, det(Sigma) = det((R'R)^{-1}) = det(R'R)^{-1} // Sigma = (R'R)^{-1}, det(Sigma) = det((R'R)^{-1}) = det(R'R)^{-1}
// log det(Sigma) = -log(det(R'R)) = -2*log(det(R)) // log det(Sigma) = -log(det(R'R)) = -2*log(det(R))
// Hence, log det(Sigma)) = - 2.0 * logDeterminant() // Hence, log det(Sigma)) = -2.0 * logDeterminant()
// which gives log = -0.5*n*log(2*pi) - 0.5*(-2.0 * logDeterminant())
// = -0.5*n*log(2*pi) + (0.5*2.0 * logDeterminant())
// = -0.5*n*log(2*pi) + logDeterminant()
return -0.5 * n * log2pi + logDeterminant(); return -0.5 * n * log2pi + logDeterminant();
} }