Merge pull request #1838 from JuliaRobotics:24Q3/fix/unpackdist

bug fix unpackDistr PackedZeroMeanFullNormal
JuliaRobotics · Aug 13, 2024 · 03fb278 · 03fb278
2 parents c1e06fb + 5111a87
commit 03fb278
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/Serialization/services/SerializingDistributions.jl b/src/Serialization/services/SerializingDistributions.jl
@@ -24,7 +24,8 @@ function unpackDistribution(dtr::PackedZeroMeanDiagNormal)
   return MvNormal(LinearAlgebra.Diagonal(map(abs2, sqrt.(dtr.diag))))
 end # sqrt.(dtr.diag)
 function unpackDistribution(dtr::PackedZeroMeanFullNormal)
-  return MvNormal(reshape(dtr.cov, length(dtr.mu), :))
+  d = round(Int,sqrt(size(dtr.cov)[1]))
+  return MvNormal(reshape(dtr.cov, d, d))
 end
 unpackDistribution(dtr::PackedDiagNormal) = MvNormal(dtr.mu, sqrt.(dtr.diag))
 function unpackDistribution(dtr::PackedFullNormal)