/** * Parametrized constructor. * \param aBelief The belief-state of the gaussian distribution. */ gaussian_pdf(const BeliefState& aBelief) : mean_state(aBelief.get_mean_state()), E_inv(aBelief.get_covariance().get_inverse_matrix()), factor(-1) { factor = determinant_Cholesky(E_inv); if(fabs(factor) < std::numeric_limits< scalar_type >::epsilon()) { factor = scalar_type(-1); } else { factor = scalar_type(1) / factor; for(size_type i = 0; i < E_inv.get_row_count(); ++i) factor *= scalar_type(6.28318530718); }; };