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

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...

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)

Detailed Description

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.