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minor readjustment

release/4.3a0
Varun Agrawal 2023-01-02 09:44:03 -05:00
parent a23322350c
commit 8f5689b762
1 changed files with 4 additions and 3 deletions
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7
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -238,13 +238,14 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
keysOfEliminated = conditional_factor.first->keys();
keysOfSeparator = conditional_factor.second->keys();
GaussianConditional::shared_ptr conditional = conditional_factor.first;
// Get the log of the log normalization constant inverse.
double logZ = -conditional->logNormalizationConstant() + graph_z.constant;
#ifdef HYBRID_TIMING
gttoc_(hybrid_eliminate);
#endif
GaussianConditional::shared_ptr conditional = conditional_factor.first;
// Get the log of the log normalization constant inverse.
double logZ = -conditional->logNormalizationConstant() + graph_z.constant;
return {conditional, {conditional_factor.second, logZ}};
};