navlie.utils.mixture¶
Collection of function required for mixing Gaussian distributions.
Functions
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A Gaussian mixing method that handles both vectorspace Gaussians |
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Calculate the mean and covariance of a Gaussian mixture on a vectorspace. |
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Reparametrize each Lie group Gaussian in X_list about X_par. |
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Given a Lie group Gaussian with mean mu and covariance P, expressed in the tangent space of X, compute Lie group StateAndCovariance X_hat such that the Lie algebra Gaussian around X_hat has zero mean. |