EmrysFilter 0.1.0
State estimation utilities in C++23 using Eigen
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SqrtGaussian.h File Reference

The square-root form of the Gaussian (decisions.md [gaussian-forms]): its parameters SqrtGaussianParams, which holds a mean and a lower-triangular root of the covariance, its marginal<Path>() by triangularization, and toSqrt(), which converts any form to it. More...

Go to the source code of this file.

Classes

class  Emrys::SqrtGaussianParams< Space_, Scalar_ >
 A Gaussian kept as a mean and a lower-triangular root of its covariance. More...

Typedefs

template<Space Space_, RealScalar Scalar_ = double>
using Emrys::SqrtGaussian = FormGaussian<SqrtGaussianParams<Space_, Scalar_>>
 The Gaussian in square-root form, which evaluates its density: what SqrtGaussianParams::toDensity() returns (decisions.md [gaussian-forms], [params-and-density]).

Functions

template<GaussianForm G>
std::expected< SqrtGaussianParams< typename G::SpaceType, typename G::Scalar >, GaussianError > Emrys::toSqrt (G const &form)

Detailed Description

The square-root form of the Gaussian (decisions.md [gaussian-forms]): its parameters SqrtGaussianParams, which holds a mean and a lower-triangular root of the covariance, its marginal<Path>() by triangularization, and toSqrt(), which converts any form to it.

Its density is a SqrtGaussian, a FormGaussian. It is a Component, by ComponentTraits in Component.h, with internal::SqrtComponentMarginal, the marginal of one component. Read InfoGaussian.h next.