innovation.hpp

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#include "rtslam/expectation.hpp"
#include "rtslam/measurement.hpp"
#include "rtslam/gaussian.hpp"
#include "jmath/ublasExtra.hpp"

#ifndef INNOVATION_HPP_
#define INNOVATION_HPP_

namespace jafar {
  namespace rtslam {


    class Innovation: public Gaussian {
      public:

        jblas::sym_mat iP_; 
        double mahalanobis_; 
        double relevance; 

        Innovation(const size_t _size);

        virtual ~Innovation(){} 

        void invertCov();


        double mahalanobis();

    };

  }
}

#endif /* INNOVATION_HPP_ */