From b0dea340d225427caae927a9720b7eb0a4fa6939 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 22 Jan 2012 00:09:38 +0000 Subject: [PATCH] Some formulas in the documentation --- gtsam/linear/GaussianConditional.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 8a58bbc34..0aa6ad19a 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -43,7 +43,7 @@ class JacobianFactor; /** * A conditional Gaussian functions as the node in a Bayes network * It has a set of parents y,z, etc. and implements a probability density on x. - * The negative log-probability is given by || Rx - (d - Sy - Tz - ...)||^2 + * The negative log-probability is given by \f$ |Rx - (d - Sy - Tz - ...)|^2 \f$ */ class GaussianConditional : public IndexConditional { @@ -65,7 +65,7 @@ public: protected: /** Store the conditional as one big upper-triangular wide matrix, arranged - * as [ R S1 S2 ... d ]. Access these blocks using a VerticalBlockView. + * as \f$ [ R S1 S2 ... d ] \f$. Access these blocks using a VerticalBlockView. * * WARNING!!! When using with LDL, R is the permuted upper triangular matrix. * Its columns/rows do not correspond to the correct components of the variables. @@ -110,7 +110,7 @@ public: /** * constructor with number of arbitrary parents (only used in unit tests, * std::list is not efficient) - * |Rx+sum(Ai*xi)-d| + * \f$ |Rx+sum(Ai*xi)-d| \f$ */ GaussianConditional(Index key, const Vector& d, const Matrix& R, const std::list >& parents, const Vector& sigmas); @@ -199,7 +199,7 @@ public: * assuming that parents have been solved already. * * @param x values structure with solved parents, and the RHS for this conditional - * @return solution x = R \ (d - Sy - Tz - ...) for each frontal variable + * @return solution \f$ x = R \ (d - Sy - Tz - ...) \f$ for each frontal variable */ void solveInPlace(VectorValues& x) const;