From 519b2bb5153388ed01162a51a8e6d84677a19312 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 16 Jan 2023 18:56:25 -0800 Subject: [PATCH] Added comment --- gtsam/hybrid/HybridGaussianFactorGraph.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 978b12107..68f8f432d 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -268,7 +268,8 @@ hybridElimination(const HybridGaussianFactorGraph &factors, // DiscreteFactor here, with the error for each discrete choice. if (continuousSeparator.empty()) { auto probPrime = [&](const EliminationPair &pair) { - // This is the unnormalized probability q(μ) at the mean. + // This is the unnormalized probability q(μ;m) at the mean. + // q(μ;m) = exp(-error(μ;m)) * sqrt(det(2π Σ_m)) // The factor has no keys, just contains the residual. static const VectorValues kEmpty; return pair.second ? exp(-pair.second->error(kEmpty)) /