ellipsoid_tree::Ellipsoid Struct Reference

Ellipsoid E(tau) = {x : (x - mu)^T Sigma^{-1} (x - mu) <= tau^2}. More...

#include <ellipsoid_tree/geometry.hpp>

Public Attributes
Eigen::VectorXd	mu
	Center (mean).
Eigen::MatrixXd	Sigma
	Symmetric positive-definite shape (covariance) matrix.

Detailed Description

Ellipsoid E(tau) = {x : (x - mu)^T Sigma^{-1} (x - mu) <= tau^2}.

Sigma must be symmetric positive definite. The scale parameter tau is supplied at call time by every function that consumes an Ellipsoid; it is deliberately not stored here, so that a family of ellipsoids sharing a covariance structure can be queried at any confidence scale. Baking a scale in is always possible via Sigma <- tau^2 * Sigma.

Member Data Documentation

mu

Eigen::VectorXd ellipsoid_tree::Ellipsoid::mu

Center (mean).

Sigma

Eigen::MatrixXd ellipsoid_tree::Ellipsoid::Sigma

Symmetric positive-definite shape (covariance) matrix.

---

The documentation for this struct was generated from the following file:

• ellipsoid_tree/geometry.hpp