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fix error function

release/4.3a0
Varun Agrawal 2024-09-16 18:43:07 -04:00
parent 094db1eb79
commit f9031f53b4
1 changed files with 2 additions and 2 deletions
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4
gtsam/hybrid/HybridNonlinearFactor.h
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@ -140,7 +140,7 @@ class HybridNonlinearFactor : public HybridFactor {
auto errorFunc = auto errorFunc =
[continuousValues](const std::pair<sharedFactor, double>& f) { [continuousValues](const std::pair<sharedFactor, double>& f) {
auto [factor, val] = f; auto [factor, val] = f;
return factor->error(continuousValues) + (0.5 * val * val); return factor->error(continuousValues) + (0.5 * val);
}; };
DecisionTree<Key, double> result(factors_, errorFunc); DecisionTree<Key, double> result(factors_, errorFunc);
return result; return result;
@ -159,7 +159,7 @@ class HybridNonlinearFactor : public HybridFactor {
auto [factor, val] = factors_(discreteValues); auto [factor, val] = factors_(discreteValues);
// Compute the error for the selected factor // Compute the error for the selected factor
const double factorError = factor->error(continuousValues); const double factorError = factor->error(continuousValues);
return factorError + (0.5 * val * val); return factorError + (0.5 * val);
} }
/** /**