Emrys::GridGaussian< Grid_, Covariance_, Component_ > Class Template Reference

The density of a Rao-Blackwellized point-mass filter's state, a checked view of its GridGaussianParams (decisions.md [params-and-density], [view-stamp]): \( p(x) = \sum_c P(c) \, \delta(x_p - p_c) \, \mathcal{N}(x_r; \mu_c, \Sigma_c) \) over the live cells, or the hybrid of Gaussians in each cell. More...

#include <EmrysFilter/Distributions/GridGaussian.h>

Public Types
using	ParamsType = GridGaussianParams<Grid_, Covariance_, Component_>
	the parameters it reads
using	GridType = Grid_
	the grid
using	Scalar = typename Grid_::Scalar
	the scalar type
using	SpaceType = typename Grid_::SpaceType
	the whole state space
using	ConditionalType = typename ParamsType::ConditionalType
	a cell's distribution over the rest
using	MomentsType = Moments<SpaceType, Scalar>
	a mean and covariance of the whole state
using	allocator_type = typename ParamsType::allocator_type
	the parameters' allocator

Public Member Functions
Grid_ const &	grid () const
Eigen::Index	size () const
decltype(auto)	conditional (Eigen::Index i) const
GaussianParams< SpaceType, Scalar >	collapsed () const
MomentsType	moments () const

Static Public Attributes
static constexpr bool	IsParams = false
	a view: it checks its parameters

Detailed Description

template<typename Grid_, typename Covariance_, typename Component_>
class Emrys::GridGaussian< Grid_, Covariance_, Component_ >

The density of a Rao-Blackwellized point-mass filter's state, a checked view of its GridGaussianParams (decisions.md [params-and-density], [view-stamp]): \( p(x) = \sum_c P(c) \, \delta(x_p - p_c) \, \mathcal{N}(x_r; \mu_c, \Sigma_c) \) over the live cells, or the hybrid of Gaussians in each cell.

GridGaussianParams::toDensity() makes one after factorizing each cell's Gaussian, or checking each cell's hybrid, so the moments and the collapse below read a distribution.

auto const density = filter.state().toDensity();
density->collapsed();   // the whole state as one GaussianParams
density->moments();     // its mean and covariance

See also

class GridGaussianParams, RbPointMassFilter

Member Function Documentation

collapsed()

template<typename Grid_, typename Covariance_, typename Component_>

GaussianParams< SpaceType, Scalar > Emrys::GridGaussian< Grid_, Covariance_, Component_ >::collapsed ( ) const

inlinenodiscard

Returns

the whole state as one Gaussian, moment-matched over the live cells: the centers' spread and each cell's covariance about its center for the fixed block, and the cells' Gaussians, or each cell's hybrid collapsed over its modes, for the rest

conditional()

template<typename Grid_, typename Covariance_, typename Component_>

decltype(auto) Emrys::GridGaussian< Grid_, Covariance_, Component_ >::conditional ( Eigen::Index i ) const

inlinenodiscard

Returns

the distribution over the rest of the state given the live cell at position i

grid()

template<typename Grid_, typename Covariance_, typename Component_>

Grid_ const & Emrys::GridGaussian< Grid_, Covariance_, Component_ >::grid ( ) const

inlinenodiscard

Returns

the grid, with its cells and centers

moments()

template<typename Grid_, typename Covariance_, typename Component_>

MomentsType Emrys::GridGaussian< Grid_, Covariance_, Component_ >::moments ( ) const

inlinenodiscard

Returns

the mean and covariance of the whole state, those of collapsed()

size()

template<typename Grid_, typename Covariance_, typename Component_>

Eigen::Index Emrys::GridGaussian< Grid_, Covariance_, Component_ >::size ( ) const

inlinenodiscard

Returns

the number of live cells

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The documentation for this class was generated from the following file:

• EmrysFilter/Distributions/GridGaussian.h