gaussian_vector.h
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #ifndef GAUSSIAN_VECTOR_H
00038 #define GAUSSIAN_VECTOR_H
00039 
00040 #include <pdf/pdf.h>
00041 #include <tf/tf.h>
00042 
00043 
00044 
00045 namespace BFL
00046 {
00048 class GaussianVector: public Pdf<tf::Vector3>
00049 {
00050 private:
00051   tf::Vector3 mu_, sigma_;
00052   mutable double sqrt_;
00053   mutable tf::Vector3 sigma_sq_;
00054   mutable bool sigma_changed_;
00055 
00056 public:
00058   GaussianVector(const tf::Vector3& mu, const tf::Vector3& sigma);
00059 
00061   virtual ~GaussianVector();
00062 
00064   friend std::ostream& operator<< (std::ostream& os, const GaussianVector& g);
00065 
00066   void sigmaSet(const tf::Vector3& sigma);
00067 
00068   // Redefinition of pure virtuals
00069   virtual Probability ProbabilityGet(const tf::Vector3& input) const;
00070   bool SampleFrom(vector<Sample<tf::Vector3> >& list_samples, const int num_samples, int method = DEFAULT, void * args = NULL) const;
00071   virtual bool SampleFrom(Sample<tf::Vector3>& one_sample, int method = DEFAULT, void * args = NULL) const;
00072 
00073   virtual tf::Vector3 ExpectedValueGet() const;
00074   virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const;
00075 
00076   virtual GaussianVector* Clone() const;
00077 };
00078 
00079 } // end namespace
00080 #endif


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Author(s): Caroline Pantofaru
autogenerated on Sat Jun 8 2019 18:40:22