navlie.utils.mixture.reparametrize_gaussians_about_X_par¶
- navlie.utils.mixture.reparametrize_gaussians_about_X_par(X_par: State, X_list: List[StateWithCovariance])¶
Reparametrize each Lie group Gaussian in X_list about X_par. A Lie group Gaussian is only relevant in the tangent space of its own mean. To mix Lie group Gaussians, a specific X, X_par, must be chosen to expand a tangent space around. Once expanded in this common tangent space, the Gaussians may be mixed in a vector space fashion.
- Parameters:
X_par (State) –
- Each member of X_list will be reparametrized as a Gaussian
in the tangent space of X_par.
X_list (List[StateWithCovariance]) – List of Lie group Gaussians to be reparametrized.
- Returns:
List[np.ndarray] – Tangent space of X_par mean of each element of X_list.
List[np.ndarray] – Tangent space of X_par covariance of each element of X_list