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comment update

release/4.3a0
Varun Agrawal 2024-09-20 15:30:24 -04:00
parent c71f0336e2
commit d145872916
1 changed files with 2 additions and 2 deletions
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4
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -329,8 +329,8 @@ static std::shared_ptr<Factor> createDiscreteFactor(
// Logspace version of: // Logspace version of:
// exp(-factor->error(kEmpty)) / conditional->normalizationConstant(); // exp(-factor->error(kEmpty)) / conditional->normalizationConstant();
// We take negative of the logNormalizationConstant `log(1/k)` // We take negative of the logNormalizationConstant `log(k)`
// to get `log(k)`. // to get `log(1/k) = log(\sqrt{|2πΣ|})`.
return -factor->error(kEmpty) - conditional->logNormalizationConstant(); return -factor->error(kEmpty) - conditional->logNormalizationConstant();
}; };