navlie.utils.mixture.gaussian_mixing

navlie.utils.mixture.gaussian_mixing(weights: List[float], x_list: List[StateWithCovariance])

A Gaussian mixing method that handles both vectorspace Gaussians

and Gaussians on Lie groups.

Parameters:

• weights (List[Float]) – Weights of Gaussians to be mixed.

• x_list (List[StateWithCovariance]) – List of Gaussians to be mixed.

Returns:

The mixed Gaussian

Return type:

StateWithCovariance

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