move ComputeLogNormalizer to NoiseModel.h

gtsam/hybrid/HybridGaussianFactor.cpp

@@ -163,20 +163,4 @@ double HybridGaussianFactor::error(const HybridValues &values) const {
   return gf->error(values.continuous());
 }
 
-/* *******************************************************************************/
-double ComputeLogNormalizer(
-    const noiseModel::Gaussian::shared_ptr &noise_model) {
-  // Since noise models are Gaussian, we can get the logDeterminant using
-  // the same trick as in GaussianConditional
-  double logDetR = noise_model->R()
-                       .diagonal()
-                       .unaryExpr([](double x) { return log(x); })
-                       .sum();
-  double logDeterminantSigma = -2.0 * logDetR;
-
-  size_t n = noise_model->dim();
-  constexpr double log2pi = 1.8378770664093454835606594728112;
-  return n * log2pi + logDeterminantSigma;
-}
-
 }  // namespace gtsam

gtsam/hybrid/HybridGaussianFactor.h

@@ -175,16 +175,4 @@ class GTSAM_EXPORT HybridGaussianFactor : public HybridFactor {
 template <>
 struct traits<HybridGaussianFactor> : public Testable<HybridGaussianFactor> {};
 
-/**
- * @brief Helper function to compute the sqrt(|2πΣ|) normalizer values
- * for a Gaussian noise model.
- * We compute this in the log-space for numerical accuracy.
- *
- * @param noise_model The Gaussian noise model
- * whose normalizer we wish to compute.
- * @return double
- */
-GTSAM_EXPORT double ComputeLogNormalizer(
-    const noiseModel::Gaussian::shared_ptr &noise_model);
-
 }  // namespace gtsam

gtsam/linear/NoiseModel.cpp

@@ -706,6 +706,22 @@ const RobustModel::shared_ptr &robust, const NoiseModel::shared_ptr noise){
   return shared_ptr(new Robust(robust,noise));
 }
 
+/* *******************************************************************************/
+double ComputeLogNormalizer(
+    const noiseModel::Gaussian::shared_ptr& noise_model) {
+  // Since noise models are Gaussian, we can get the logDeterminant using
+  // the same trick as in GaussianConditional
+  double logDetR = noise_model->R()
+                       .diagonal()
+                       .unaryExpr([](double x) { return log(x); })
+                       .sum();
+  double logDeterminantSigma = -2.0 * logDetR;
+
+  size_t n = noise_model->dim();
+  constexpr double log2pi = 1.8378770664093454835606594728112;
+  return n * log2pi + logDeterminantSigma;
+}
+
 /* ************************************************************************* */
 
 }

gtsam/linear/NoiseModel.h

@@ -751,6 +751,18 @@ namespace gtsam {
   template<> struct traits<noiseModel::Isotropic> : public Testable<noiseModel::Isotropic> {};
   template<> struct traits<noiseModel::Unit> : public Testable<noiseModel::Unit> {};
 
+  /**
+   * @brief Helper function to compute the sqrt(|2πΣ|) normalizer values
+   * for a Gaussian noise model.
+   * We compute this in the log-space for numerical accuracy.
+   *
+   * @param noise_model The Gaussian noise model
+   * whose normalizer we wish to compute.
+   * @return double
+   */
+  GTSAM_EXPORT double ComputeLogNormalizer(
+      const noiseModel::Gaussian::shared_ptr& noise_model);
+
 } //\ namespace gtsam