From b47cd9d97bec48b0c4598a61dcda16b407d11c0f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 2 Jun 2022 22:55:46 -0400 Subject: [PATCH] update GaussianMixture docstring --- gtsam/hybrid/GaussianMixture.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h index f805c76c6..e85506715 100644 --- a/gtsam/hybrid/GaussianMixture.h +++ b/gtsam/hybrid/GaussianMixture.h @@ -34,9 +34,10 @@ namespace gtsam { * variable, M is the selection of discrete variables corresponding to a subset * of the Gaussian variables and Z is parent of this node * - * The negative log-probability is given by \f$ \sum_{m=1}^M \pi_m \frac{1}{2} - * |Rx - (d - Sy - Tz - ...)|^2 \f$, where \f$ \pi_m \f$ is the mixing - * coefficient. + * The probability P(x|y,z,...) is proportional to + * \f$ \sum_i k_i \exp - \frac{1}{2} |R_i x - (d_i - S_i y - T_i z - ...)|^2 \f$ + * where i indexes the components and k_i is a component-wise normalization + * constant. * */ class GTSAM_EXPORT GaussianMixture