Gaussian.h

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#ifndef PROBLIB_GAUSSIAN_H_
#define PROBLIB_GAUSSIAN_H_

#include "PDF.h"

namespace pbl {

class Gaussian: public PDF {

public:

        Gaussian(int dim);

        Gaussian(const arma::vec& mean, const arma::mat& cov);

        Gaussian(const Gaussian& orig);

        virtual ~Gaussian();

        Gaussian& operator=(const Gaussian& other);

        Gaussian* clone() const;

        double getLikelihood(const PDF& pdf) const;

        double getDensity(const arma::vec& v, double max_mah_dist = 0) const;

        double getDensity(const Gaussian& npdf, double max_mah_dist = 0) const;

        double getMaxDensity() const;

        bool getExpectedValue(arma::vec& v) const;

        void setMean(const arma::vec& mu);

        void setCovariance(const arma::mat& cov);

        const arma::vec& getMean() const;

        const arma::mat& getCovariance() const;

        std::string toString(const std::string& indent = "") const;

protected:

        struct GaussianStruct {

                arma::vec mu_;

                arma::mat cov_;

                int n_ptrs_;

                GaussianStruct(const arma::vec& mu, const arma::mat& cov) : mu_(mu) , cov_(cov), n_ptrs_(1) { }

                GaussianStruct(const GaussianStruct& orig) : mu_(orig.mu_), cov_(orig.cov_), n_ptrs_(1) { }
        };

        GaussianStruct* ptr_;

        void cloneStruct();

        double getDensity(const arma::vec& v1, const arma::vec& v2, const arma::mat& S, double max_mah_dist = 0) const;

#define CHECK_INITIALIZED assert_msg(ptr_, "Gaussian was not yet initialized.")

};

}

#endif /* NORMALPDF_H_ */