gtsam 4.1.1 gtsam
GaussianDensity.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
9
10 * -------------------------------------------------------------------------- */
11
19// \callgraph
20#pragma once
21
23
24namespace gtsam {
25
33 class GTSAM_EXPORT GaussianDensity : public GaussianConditional {
34
35 public:
36
37 typedef boost::shared_ptr<GaussianDensity> shared_ptr;
38
42 }
43
46 GaussianConditional(conditional) {
47 if(conditional.nrParents() != 0)
48 throw std::invalid_argument("GaussianDensity can only be created from a conditional with no parents");
49 }
50
52 GaussianDensity(Key key, const Vector& d, const Matrix& R, const SharedDiagonal& noiseModel = SharedDiagonal()) :
53 GaussianConditional(key, d, R, noiseModel) {}
54
56 static GaussianDensity FromMeanAndStddev(Key key, const Vector& mean, const double& sigma);
57
59 void print(const std::string& = "GaussianDensity",
60 const KeyFormatter& formatter = DefaultKeyFormatter) const override;
61
63 Vector mean() const;
64
66 Matrix covariance() const;
67
68 };
69 // GaussianDensity
70
71}// gtsam
Conditional Gaussian Base class.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
Point3 mean(const CONTAINER &points)
mean
Definition: Point3.h:66
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:155
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:69
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
size_t nrParents() const
return the number of parents
Definition: Conditional.h:88
A conditional Gaussian functions as the node in a Bayes network It has a set of parents y,...
Definition: GaussianConditional.h:39
A Gaussian density.
Definition: GaussianDensity.h:33
GaussianDensity(Key key, const Vector &d, const Matrix &R, const SharedDiagonal &noiseModel=SharedDiagonal())
constructor using d, R
Definition: GaussianDensity.h:52
GaussianDensity()
default constructor needed for serialization
Definition: GaussianDensity.h:40
GaussianDensity(const GaussianConditional &conditional)
Copy constructor from GaussianConditional.
Definition: GaussianDensity.h:45