gaussian_vector.h

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/* Author: Wim Meeussen */

#ifndef GAUSSIAN_VECTOR_H
#define GAUSSIAN_VECTOR_H

#include <pdf/pdf.h>
#include <tf/tf.h>



namespace BFL
{
  class GaussianVector: public Pdf<tf::Vector3>
    {
    private:
      tf::Vector3 mu_, sigma_;
      mutable double sqrt_;
      mutable tf::Vector3 sigma_sq_;
      mutable bool sigma_changed_;
      
    public:
      GaussianVector (const tf::Vector3& mu, const tf::Vector3& sigma);

      virtual ~GaussianVector();

      friend std::ostream& operator<< (std::ostream& os, const GaussianVector& g);
    
      void sigmaSet( const tf::Vector3& sigma );

      // Redefinition of pure virtuals
      virtual Probability ProbabilityGet(const tf::Vector3& input) const;
      bool SampleFrom (vector<Sample<tf::Vector3> >& list_samples, const int num_samples, int method=DEFAULT, void * args=NULL) const;
      virtual bool SampleFrom (Sample<tf::Vector3>& one_sample, int method=DEFAULT, void * args=NULL) const;

      virtual tf::Vector3 ExpectedValueGet() const;
      virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const;

      virtual GaussianVector* Clone() const;
    };

} // end namespace
#endif