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gtsam/hybrid/HybridGaussianFactorGraph.cpp

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@@ -296,7 +296,7 @@ static std::shared_ptr<Factor> createDiscreteFactor(
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// Logspace version of:
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// exp(-factor->error(kEmpty)) * conditional->normalizationConstant();
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// We take negative of the logNormalizationConstant (1/k) to get k
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// We take negative of the logNormalizationConstant `log(1/k)` to get `log(k)`.
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return -factor->error(kEmpty) + (-conditional->logNormalizationConstant());
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};
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