conditionalgaussian.h
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00001 // $Id: conditionalgaussian.h 29890 2009-02-02 10:22:01Z tdelaet $
00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
00003 // Copyright (C) 2008 Tinne De Laet <first dot last at mech dot kuleuven dot be>
00004 //
00005 // This program is free software; you can redistribute it and/or modify
00006 // it under the terms of the GNU Lesser General Public License as published by
00007 // the Free Software Foundation; either version 2.1 of the License, or
00008 // (at your option) any later version.
00009 //
00010 // This program is distributed in the hope that it will be useful,
00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013 // GNU Lesser General Public License for more details.
00014 //
00015 // You should have received a copy of the GNU Lesser General Public License
00016 // along with this program; if not, write to the Free Software
00017 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00018 //
00019 
00020 #ifndef __CONDITIONAL_GAUSSIAN__
00021 #define __CONDITIONAL_GAUSSIAN__
00022 
00023 #include "conditionalpdf.h"
00024 
00025 namespace BFL
00026 {
00028 
00040   class ConditionalGaussian : public ConditionalPdf<MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector>
00041     {
00042     public:
00044 
00049       ConditionalGaussian(int dim = 0, int num_conditional_arguments=0);
00050 
00051       // Default Copy constructor will do
00052 
00054       virtual ~ConditionalGaussian();
00055 
00057       virtual ConditionalGaussian* Clone() const;
00058 
00059       // implemented virtuals!
00060       virtual Probability ProbabilityGet(const MatrixWrapper::ColumnVector& input) const;
00061       virtual bool SampleFrom (Sample<MatrixWrapper::ColumnVector>& sample, int method=DEFAULT, void * args=NULL) const;
00062       virtual bool SampleFrom (std::vector<Sample<MatrixWrapper::ColumnVector> >& samples, const int num_samples,
00063                                int method=DEFAULT, void * args=NULL) const;
00064 
00065     protected:
00066       // variables to avoid allocation on the heap during sampling
00067       mutable ColumnVector _diff;
00068       mutable ColumnVector _Mu;
00069       mutable Matrix _Low_triangle;
00070       mutable ColumnVector _samples;
00071       mutable ColumnVector _SampleValue;
00072 
00073     };
00074 
00075 } // End namespace BFL
00076 
00077 #endif // __CONDITIONAL_GAUSSIAN__
00078 


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:52