Gaussian.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 GAUSSIAN_H
#define GAUSSIAN_H
 
#include <BayesFilters/GaussianMixture.h>
 
#include <memory>
 
#include <Eigen/Core>
 
namespace bfl {
    class Gaussian;
}
 
 
class bfl::Gaussian : public bfl::GaussianMixture
{
public:
    Gaussian() noexcept;
 
    Gaussian(const std::size_t dim_linear) noexcept;
 
    Gaussian(const std::size_t dim_linear, const std::size_t dim_circular, const bool use_quaternion = false) noexcept;
 
    virtual ~Gaussian() noexcept = default;
 
    void resize(const std::size_t dim_linear, const std::size_t dim_circular = 0);
 
    Eigen::Ref<Eigen::VectorXd> mean();
 
    const Eigen::Ref<const Eigen::VectorXd> mean() const;
 
    double& mean(const std::size_t i);
 
    const double& mean(const std::size_t i) const;
 
    Eigen::Ref<Eigen::MatrixXd> covariance();
 
    const Eigen::Ref<const Eigen::MatrixXd> covariance() const;
 
    double& covariance(const std::size_t i, const std::size_t j);
 
    const double& covariance(const std::size_t i, const std::size_t j) const;
 
    double& weight();
 
    const double& weight() const;
};
 
#endif /* GAUSSIAN_H */