From d145872916868e6432ea1d574c9167356ab39ab0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 20 Sep 2024 15:30:24 -0400
Subject: [PATCH] comment update

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 0d4e534e1..01ecfe5ac 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -329,8 +329,8 @@ static std::shared_ptr<Factor> createDiscreteFactor(
 
     // Logspace version of:
     // exp(-factor->error(kEmpty)) / conditional->normalizationConstant();
-    // We take negative of the logNormalizationConstant `log(1/k)`
-    // to get `log(k)`.
+    // We take negative of the logNormalizationConstant `log(k)`
+    // to get `log(1/k) = log(\sqrt{|2πΣ|})`.
     return -factor->error(kEmpty) - conditional->logNormalizationConstant();
   };