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Comment on constant

release/4.3a0
Frank Dellaert 2023-01-01 18:01:48 -05:00
parent 2c7b3a2af0
commit 4d313fae77
1 changed files with 5 additions and 1 deletions
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6
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -274,7 +274,11 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
auto factorProb =
[&](const GaussianMixtureFactor::FactorAndConstant &factor_z) {
// This is the probability q(μ) at the MLE point.
return factor_z.error(VectorValues());
// return exp(-factor_z.error(VectorValues()));
// TODO(dellaert): this is not correct, since VectorValues() is not
// the MLE point. But it does not matter, as at the MLE point the
// error will be zero, hence:
return exp(-factor_z.constant);
};
const DecisionTree<Key, double> fdt(newFactors, factorProb);
const auto discreteFactor =