Implement evaluation of a Gaussian density in `utils`

robotology / bayes-filters-lib

A flexible, modern, C++ recursive Bayesian estimation library.

https://robotology.github.io/bayes-filters-lib/doc/html/index.html

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Implement evaluation of a Gaussian density in `utils` #59

Closed xEnVrE closed 5 years ago

xEnVrE commented 5 years ago

There are several places where we are evaluating a Gaussian density, namely

GaussianLikelihood::likelihood
WhiteNoiseAcceleration::getTransitionProbability
GPFCorrection::evaluateProposal

and we will have other such as *KFCorrection::getLikelihood as per #42.

Can we have a utility function in utils.cpp for this? Of course, one day we may end up having a class for distributions.

claudiofantacci commented 5 years ago

Yes! Let's move this in utility for now, but I think we might need something more structured. Maybe after we implement noise classes we can come up with a better solution.

xEnVrE commented 5 years ago

Ok, then let's say we can have a PR for adding this to utils and using it in all the places where we need it plus in *KFCorrection. Is this fine?

claudiofantacci commented 5 years ago

Sure. Are you willing to do it?

xEnVrE commented 5 years ago

Yes!

claudiofantacci commented 5 years ago

Assigned 🚀 As I'm also working on utils.h and is now a template header-only utility file. As a consequence, please implement everything in the header and possibly/if needed as a template, otherwise let's talk f2f.

claudiofantacci commented 5 years ago

Closed by #60.