GaussianDensity.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

// \callgraph
#pragma once

#include <gtsam/linear/GaussianConditional.h>

namespace gtsam {

  class GTSAM_EXPORT GaussianDensity : public GaussianConditional {

  public:

    typedef std::shared_ptr<GaussianDensity> shared_ptr;

    GaussianDensity() :
      GaussianConditional() {
    }

    GaussianDensity(const GaussianConditional& conditional) :
      GaussianConditional(conditional) {
        if(conditional.nrParents() != 0)
          throw std::invalid_argument("GaussianDensity can only be created from a conditional with no parents");
    }

    GaussianDensity(Key key, const Vector& d, const Matrix& R, const SharedDiagonal& noiseModel = SharedDiagonal()) :
      GaussianConditional(key, d, R, noiseModel) {}

    static GaussianDensity FromMeanAndStddev(Key key, const Vector& mean,
                                             double sigma);

    void print(const std::string& = "GaussianDensity",
      const KeyFormatter& formatter = DefaultKeyFormatter) const override;

    Vector mean() const;

    Matrix covariance() const;

  };
  // GaussianDensity

}// gtsam