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update GaussianMixture docstring

release/4.3a0
Varun Agrawal 2022-06-02 22:55:46 -04:00
parent 92176db645
commit b47cd9d97b
1 changed files with 4 additions and 3 deletions
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7
gtsam/hybrid/GaussianMixture.h
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@ -34,9 +34,10 @@ namespace gtsam {
* variable, M is the selection of discrete variables corresponding to a subset * variable, M is the selection of discrete variables corresponding to a subset
* of the Gaussian variables and Z is parent of this node * 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} * The probability P(x|y,z,...) is proportional to
* |Rx - (d - Sy - Tz - ...)|^2 \f$, where \f$ \pi_m \f$ is the mixing * \f$ \sum_i k_i \exp - \frac{1}{2} |R_i x - (d_i - S_i y - T_i z - ...)|^2 \f$
* coefficient. * where i indexes the components and k_i is a component-wise normalization
* constant.
* *
*/ */
class GTSAM_EXPORT GaussianMixture class GTSAM_EXPORT GaussianMixture