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EmrysFilter 0.1.0
State estimation utilities in C++23 using Eigen
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The square-root information form of the Gaussian (decisions.md [gaussian-forms]): its parameters SqrtInfoGaussianParams, which holds an upper-triangular root of the precision and the whitened offset of the mean from a reference value; multiply(), marginal<Path>(), and conditional<Path>(), each a triangularization of a stacked data array; and toSqrtInfo(), which converts any form to it. More...
#include <expected>#include <type_traits>#include <utility>#include <EmrysFilter/Core/Forwarding.h>#include <EmrysFilter/Core/Macros.h>#include <EmrysFilter/Core/Math.h>#include <EmrysFilter/Core/Multiply.h>#include <EmrysFilter/Core/Print.h>#include <EmrysFilter/Core/Solve.h>#include <EmrysFilter/Core/Stamp.h>#include <EmrysFilter/Core/Triangularization.h>#include <EmrysFilter/Distributions/Gaussian.h>#include <EmrysFilter/Distributions/GaussianForm.h>#include <EmrysFilter/Distributions/Moments.h>#include <EmrysFilter/Spaces/Composite.h>#include <EmrysFilter/Spaces/Indexing.h>#include <EmrysFilter/Spaces/Reset.h>#include <EmrysFilter/Spaces/Space.h>Go to the source code of this file.
Classes | |
| class | Emrys::SqrtInfoGaussianParams< Space_, Scalar_ > |
| A Gaussian kept as an upper-triangular root of its precision and a whitened offset, about a reference value. More... | |
Typedefs | |
| template<Space Space_, RealScalar Scalar_ = double> | |
| using | Emrys::SqrtInfoGaussian = FormGaussian<SqrtInfoGaussianParams<Space_, Scalar_>> |
| The Gaussian in square-root information form, which evaluates its density: what SqrtInfoGaussianParams::toDensity() returns (decisions.md [gaussian-forms], [params-and-density]). | |
Functions | |
| template<Space Space_, RealScalar Scalar_> | |
| SqrtInfoGaussianParams< Space_, Scalar_ > | Emrys::multiply (SqrtInfoGaussianParams< Space_, Scalar_ > const &first, SqrtInfoGaussianParams< Space_, Scalar_ > const &second) |
| template<GaussianForm G> | |
| std::expected< SqrtInfoGaussianParams< typename G::SpaceType, typename G::Scalar >, GaussianError > | Emrys::toSqrtInfo (G const &form) |
The square-root information form of the Gaussian (decisions.md [gaussian-forms]): its parameters SqrtInfoGaussianParams, which holds an upper-triangular root of the precision and the whitened offset of the mean from a reference value; multiply(), marginal<Path>(), and conditional<Path>(), each a triangularization of a stacked data array; and toSqrtInfo(), which converts any form to it.
Its density is a SqrtInfoGaussian, a FormGaussian. Read Uniform.h next.