hydronavutil::Gmm Class Reference

A Gaussian Mixture Model (GMM) representing a distribution over 2D robot poses. More...

#include <gmm.h>

List of all members.

Public Member Functions
	Gmm (const Pose &mean, const Cov3d &cov)
	Convenience function for constructing a Gmm of one component.
	Gmm (const std::vector< Gaussian > &components, const std::vector< double > &weights)
	Construct arbitrary Gmm's.
const Gaussian &	components (int i) const
	const access
double	weights (int i) const
	const access
Gaussian &	components (int i)
	non-const access
double &	weights (int i)
	non-const access
int	mlComponentI () const
	Returns the index of the most likely component.
const Gaussian &	mlComponent () const
	Returns a const ref to the most likely component.
void	addComponent (const Gaussian &comp, double weight)
	Renormalises to ensure the weights sum to one.

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Detailed Description

A Gaussian Mixture Model (GMM) representing a distribution over 2D robot poses.

Author:

Alex Brooks

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

• gmm.h
• gmm.cpp