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Expose correct error versions

release/4.3a0
Frank Dellaert 2023-01-13 12:28:39 -08:00
parent a4aebb548a
commit ebb5ae6f18
2 changed files with 13 additions and 3 deletions
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9
gtsam/linear/GaussianConditional.cpp
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@ -205,9 +205,14 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
double GaussianConditional::evaluate(const VectorValues& c) const { double GaussianConditional::evaluate(const VectorValues& x) const {
return exp(logProbability(c)); return exp(logProbability(x));
} }
double GaussianConditional::evaluate(const HybridValues& x) const {
return evaluate(x.continuous());
}
/* ************************************************************************* */ /* ************************************************************************* */
VectorValues GaussianConditional::solve(const VectorValues& x) const { VectorValues GaussianConditional::solve(const VectorValues& x) const {
// Concatenate all vector values that correspond to parent variables // Concatenate all vector values that correspond to parent variables

7
gtsam/linear/GaussianConditional.h
View File

@ -262,7 +262,12 @@ namespace gtsam {
*/ */
double logProbability(const HybridValues& x) const override; double logProbability(const HybridValues& x) const override;
using Conditional::evaluate; // Expose evaluate(const HybridValues&) method.. /**
* Calculate probability for HybridValues `x`.
* Simply dispatches to VectorValues version.
*/
double evaluate(const HybridValues& x) const override;
using Conditional::operator(); // Expose evaluate(const HybridValues&) method.. using Conditional::operator(); // Expose evaluate(const HybridValues&) method..
using JacobianFactor::error; // Expose error(const HybridValues&) method.. using JacobianFactor::error; // Expose error(const HybridValues&) method..