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Various Fixes #1667

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merged 5 commits into from
Dec 4, 2023
Merged

Various Fixes #1667

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90a9e6f
report correct error for discreteElimination
varunagrawal Nov 9, 2023
66a3c08
improved GaussianConditional docstring
varunagrawal Nov 9, 2023
4eef902
small CMake formatting
varunagrawal Nov 9, 2023
81b3aeb
fix NavState.cpp filename in docstring
varunagrawal Nov 9, 2023
b4d7b49
Merge branch 'develop' into fix/warnings
varunagrawal Nov 11, 2023
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4 changes: 2 additions & 2 deletions gtsam/hybrid/HybridGaussianFactorGraph.cpp
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Expand Up @@ -169,10 +169,10 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
// TODO(dellaert): is this correct? If so explain here.
} else if (auto hc = dynamic_pointer_cast<HybridConditional>(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);
}
}

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4 changes: 3 additions & 1 deletion gtsam/linear/GaussianConditional.h
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Expand Up @@ -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 :
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2 changes: 1 addition & 1 deletion gtsam/navigation/NavState.cpp
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Expand Up @@ -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
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4 changes: 2 additions & 2 deletions gtsam/nonlinear/CMakeLists.txt
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@@ -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)