Generates samples from a multivariate gaussian distribution. More...

Public Member Functions
template<typename Derived1 , typename Derived2 >
	MultivariateGaussian (const Eigen::MatrixBase< Derived1 > &mean, const Eigen::MatrixBase< Derived2 > &covariance)

template<typename Derived >
void	sample (Eigen::MatrixBase< Derived > &output, bool use_covariance=true)
	generates random values using a normal distribution. More...

Private Attributes
Eigen::MatrixXd	covariance_

Eigen::MatrixXd	covariance_cholesky_

std::shared_ptr< boost::variate_generator< boost::mt19937, boost::normal_distribution<> > >	gaussian_

Eigen::VectorXd	mean_

boost::normal_distribution	normal_dist_

boost::mt19937	rng_

int	size_

Detailed Description

Generates samples from a multivariate gaussian distribution.

Definition at line 60 of file multivariate_gaussian.h.

Member Function Documentation

template<typename Derived >

void stomp_moveit::utils::MultivariateGaussian::sample	(	Eigen::MatrixBase< Derived > &	output,
		bool	use_covariance = `true`
	)

generates random values using a normal distribution.

Parameters

output	The random values
use_covariance	True to apply the covariance matrix onto the random values, false otherwise

Definition at line 101 of file multivariate_gaussian.h.

Eigen::MatrixXd stomp_moveit::utils::MultivariateGaussian::covariance_

private

Covariance of the gaussian distribution

Definition at line 76 of file multivariate_gaussian.h.

Eigen::MatrixXd stomp_moveit::utils::MultivariateGaussian::covariance_cholesky_

private

Cholesky decomposition (LL^T) of the covariance

Definition at line 77 of file multivariate_gaussian.h.

Eigen::VectorXd stomp_moveit::utils::MultivariateGaussian::mean_

private

Mean of the gaussian distribution

Definition at line 75 of file multivariate_gaussian.h.

The documentation for this class was generated from the following file: