GaussianMixture.h

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef GAUSSIANMIXTURE_H
#define GAUSSIANMIXTURE_H
 
#include <vector>
 
#include <Eigen/Dense>
 
namespace bfl {
    class GaussianMixture;
}
 
 
class bfl::GaussianMixture
{
public:
    GaussianMixture() noexcept;
 
    GaussianMixture(const std::size_t components, const std::size_t dim) noexcept;
 
    GaussianMixture(const std::size_t components, const std::size_t dim_linear, const std::size_t dim_circular, const bool use_quaternion = false) noexcept;
 
    virtual ~GaussianMixture() noexcept = default;
 
    virtual void resize(const std::size_t components, const std::size_t dim_linear, const std::size_t dim_circular = 0);
 
    Eigen::Ref<Eigen::MatrixXd> mean();
 
    Eigen::Ref<Eigen::VectorXd> mean(const std::size_t i);
 
    double& mean(const std::size_t i, const std::size_t j);
 
    const Eigen::Ref<const Eigen::MatrixXd> mean() const;
 
    const Eigen::Ref<const Eigen::VectorXd> mean(const std::size_t i) const;
 
    const double& mean(const std::size_t i, const std::size_t j) const;
 
    Eigen::Ref<Eigen::MatrixXd> covariance();
 
    Eigen::Ref<Eigen::MatrixXd> covariance(const std::size_t i);
 
    double& covariance(const std::size_t i, const std::size_t j, const std::size_t k);
 
    const Eigen::Ref<const Eigen::MatrixXd> covariance() const;
 
    const Eigen::Ref<const Eigen::MatrixXd> covariance(const std::size_t i) const;
 
    const double& covariance(const std::size_t i, const std::size_t j, const std::size_t k) const;
 
    Eigen::Ref<Eigen::VectorXd> weight();
 
    double& weight(const std::size_t i);
 
    const Eigen::Ref<const Eigen::VectorXd> weight() const;
 
    const double& weight(const std::size_t i) const;
 
    bool augmentWithNoise(const Eigen::Ref<const Eigen::MatrixXd>& noise_covariance_matrix);
 
    std::size_t components;
 
    bool use_quaternion;
 
    std::size_t dim_circular_component;
 
    std::size_t dim;
 
    std::size_t dim_linear;
 
    std::size_t dim_circular;
 
    std::size_t dim_noise;
 
    std::size_t dim_covariance;
 
protected:
    Eigen::MatrixXd mean_;
 
    Eigen::MatrixXd covariance_;
 
    Eigen::VectorXd weight_;
};
 
#endif /* GAUSSIANMIXTURE_H */