MathHelper.h

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#pragma once

// Global includes
#include <cmath>
#include <vector>

// Package includes
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Eigenvalues>

#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>

#include <asr_msgs/AsrObject.h>

namespace ProbabilisticSceneRecognition {
  
  class MathHelper {
  public:
    MathHelper();
    
    ~MathHelper();

    static void drawNormal(const Eigen::VectorXd& mean, const Eigen::MatrixXd& cov, unsigned int amount, std::vector<Eigen::VectorXd>& samples);

    static void calcHistogram(double lower, double upper, unsigned int buckets, std::vector<double> in, std::vector<std::pair<double, double>>& out);

  };
}