Template Function beluga::calculate_covariance(Range&&, const Sophus::Vector2<Scalar>&)
Defined in File estimation.hpp
Function Documentation
-
template<class Range, class Scalar>
Sophus::Matrix2<Scalar> beluga::calculate_covariance(Range &&range, const Sophus::Vector2<Scalar> &mean) Convenience overload that calculates the covariance of a range given its mean for the case where all samples have the same weight.
- Template Parameters:
Range – A sized range type whose value type is
Sophus::Vector2<Scalar>
.Scalar – A scalar type, e.g. double or float.
- Parameters:
range – Range to be used to calculate the covariance.
mean – The previously calculated mean of range. The value must be correct for the resulting covariance to be correct.
- Returns:
The calculated covariance, as a
Sophus::Matrix2<Scalar>
.