From 98a2668fb1e78684ec9fa290e032235162cf2fe9 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 22 Aug 2024 11:57:57 -0400 Subject: [PATCH] add docstring and GTSAM_EXPORT for ComputeLogNormalizer --- gtsam/hybrid/GaussianMixtureFactor.h | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h index 6e9f6034e..6680abb54 100644 --- a/gtsam/hybrid/GaussianMixtureFactor.h +++ b/gtsam/hybrid/GaussianMixtureFactor.h @@ -179,7 +179,16 @@ template <> struct traits : public Testable { }; -double ComputeLogNormalizer( +/** + * @brief Helper function to compute the sqrt(|2πΣ|) normalizer values + * for a Gaussian noise model. + * We compute this in the log-space for numerical accuracy. + * + * @param noise_model The Gaussian noise model + * whose normalizer we wish to compute. + * @return double + */ +GTSAM_EXPORT double ComputeLogNormalizer( const noiseModel::Gaussian::shared_ptr &noise_model); } // namespace gtsam