/** Returns the Mahalanobis distance from this PDF to some point */
double CPoint2DPDFGaussian::mahalanobisDistanceToPoint( const double x, const double y ) const
{
// The difference in means:
Eigen::Matrix<double,2,1> deltaX;
deltaX[0] = x - mean.x();
deltaX[1] = y - mean.y();
// The inverse of the combined covs:
return std::sqrt( deltaX.multiply_HtCH_scalar( this->cov.inverse() ) );
}
/*---------------------------------------------------------------
mahalanobisDistanceTo
---------------------------------------------------------------*/
double CPoint2DPDFGaussian::mahalanobisDistanceTo( const CPoint2DPDFGaussian & other ) const
{
// The difference in means:
Eigen::Matrix<double,2,1> deltaX;
deltaX[0] = other.mean.x() - mean.x();
deltaX[1] = other.mean.y() - mean.y();
// The inverse of the combined covs:
return std::sqrt( deltaX.multiply_HtCH_scalar( (other.cov + this->cov).inverse() ) );
}