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Fixed whitening in BayesNet determinant

release/4.3a0
Richard Roberts 2013-07-16 20:22:05 +00:00
parent dae249be2e
commit b24af8554b
1 changed files with 9 additions and 2 deletions
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11
gtsam/linear/GaussianBayesNetUnordered.cpp
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@ -134,8 +134,15 @@ namespace gtsam {
double GaussianBayesNetUnordered::logDeterminant() const
{
double logDet = 0.0;
BOOST_FOREACH(const sharedConditional& cg, *this)
logDet += cg->get_R().diagonal().unaryExpr(ptr_fun<double,double>(log)).sum();
BOOST_FOREACH(const sharedConditional& cg, *this) {
if(cg->get_model()) {
Vector diag = cg->get_R().diagonal();
cg->get_model()->whitenInPlace(diag);
logDet += diag.unaryExpr(ptr_fun<double,double>(log)).sum();
} else {
logDet += cg->get_R().diagonal().unaryExpr(ptr_fun<double,double>(log)).sum();
}
}
return logDet;
}