navlie.utils.mixture.update_X

navlie.utils.mixture.update_X(X: State, mu: ndarray, P: ndarray)

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.

Parameters:

• X (State) – A Lie group element.

• mu (np.ndarray) – Mean of Gaussian in tangent space of X

• P (np.ndarray) – Covariance of Gaussian in tangent space of X

Returns:

StateWithCovariance whose state is a Lie group element.

Return type:

StateWithCovariance

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