Commit 2fb1065b authored by Frédéric Karamé's avatar Frédéric Karamé
Browse files

computes the density of particles in a gaussian distribution.

parent 56e723c0
function [prior,likelihood,C,posterior] = probability(mu,sqrtP,prior,X)
[dim,nov] = size(X);
M = size(mu,2) ;
if nargout>1
likelihood = zeros(M,nov);
normfact = (2*pi)^(dim/2);
for k=1:M
XX = bsxfun(@minus,X,mu(:,k));
S = sqrtP(:,:,k);
foo = S \ XX;
likelihood(k,:) = exp(-0.5*sum(foo.*foo, 1))/abs((normfact*prod(diag(S))));
likelihood = likelihood + 1e-99;
if nargout>2
C = prior*likelihood + 1e-99;
if nargout>3
posterior = bsxfun(@rdivide,bsxfun(@times,prior',likelihood),C) + 1e-99 ;
posterior = bsxfun(@rdivide,posterior,sum(posterior,1));
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