mtt: /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/metrics.h Source File

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00032 #ifndef _METRICS_H_
00033 #define _METRICS_H_
00034 
00035 #include <Eigen/Dense>
00036 
00037 using Eigen::Vector2d;
00038 using Eigen::VectorXd;
00039 using Eigen::Matrix2d;
00040 using Eigen::MatrixXd;
00041 
00042 template<typename Derived>
00043 inline bool is_finite(const Eigen::MatrixBase<Derived>& x)
00044 {
00045    return ( (x - x).array() == (x - x).array()).all();
00046 }
00047 
00048 template<typename Derived>
00049 inline bool is_nan(const Eigen::MatrixBase<Derived>& x)
00050 {
00051    return ((x.array() == x.array())).all();
00052 }
00053 
00054 double mahalanobis(Vector2d&y,Vector2d&mean,Matrix2d& cov);
00055 double biVariatePDF(Vector2d& x,Vector2d& m,Matrix2d& cov);
00056 
00057 
00058 #endif