From 90a9e6f74695612e98fcfaf276daade00ca3cd05 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Nov 2023 15:37:15 -0500 Subject: [PATCH 1/4] report correct error for discreteElimination --- gtsam/hybrid/HybridGaussianFactorGraph.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 7a7ca0cbf7..2029b48e09 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -169,10 +169,10 @@ discreteElimination(const HybridGaussianFactorGraph &factors, // TODO(dellaert): is this correct? If so explain here. } else if (auto hc = dynamic_pointer_cast(f)) { auto dc = hc->asDiscrete(); - if (!dc) throwRuntimeError("continuousElimination", dc); + if (!dc) throwRuntimeError("discreteElimination", dc); dfg.push_back(hc->asDiscrete()); } else { - throwRuntimeError("continuousElimination", f); + throwRuntimeError("discreteElimination", f); } } From 66a3c084f19cb7583630ac2459979949a77e68e0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Nov 2023 15:37:34 -0500 Subject: [PATCH 2/4] improved GaussianConditional docstring --- gtsam/linear/GaussianConditional.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 43d349b672..420efabca9 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -31,8 +31,10 @@ namespace gtsam { /** * A GaussianConditional functions as the node in a Bayes network. - * It has a set of parents y,z, etc. and implements a probability density on x. + * It has a set of parents y,z, etc. and implements a Gaussian probability density p(x | y, z) on x. * The negative log-density is given by \f$ \frac{1}{2} |Rx - (d - Sy - Tz - ...)|^2 \f$ + * The mean of the conditional density is \f$ R^{-1}(d - Sy - Tz - ...) \f$. + * The covariance of the conditional density is given by the noise model and is constrained to be diagonal. * @ingroup linear */ class GTSAM_EXPORT GaussianConditional : From 4eef9023e9898b2acef928eac45ebeeba09b036f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Nov 2023 15:37:43 -0500 Subject: [PATCH 3/4] small CMake formatting --- gtsam/nonlinear/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt index ad48248174..29ff2efa57 100644 --- a/gtsam/nonlinear/CMakeLists.txt +++ b/gtsam/nonlinear/CMakeLists.txt @@ -1,9 +1,9 @@ # Install headers file(GLOB nonlinear_headers "*.h") -install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear) +install(FILES ${nonlinear_headers} DESTINATION "include/gtsam/nonlinear") file(GLOB nonlinear_headers_internal "internal/*.h") -install(FILES ${nonlinear_headers_internal} DESTINATION include/gtsam/nonlinear/internal) +install(FILES ${nonlinear_headers_internal} DESTINATION "include/gtsam/nonlinear/internal") # Build tests add_subdirectory(tests) From 81b3aebc427fb629acfe9ac6c9fbf19aa9bd3f6c Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 9 Nov 2023 15:39:14 -0500 Subject: [PATCH 4/4] fix NavState.cpp filename in docstring --- gtsam/navigation/NavState.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 6a17e9ea05..4410d629cf 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file NavState.h + * @file NavState.cpp * @brief Navigation state composing of attitude, position, and velocity * @author Frank Dellaert * @date July 2015