movement_primitives.visualization.to_ellipsoid

movement_primitives.visualization.to_ellipsoid(mean, cov)

Compute error ellipsoid.

An error ellipsoid shows equiprobable points.

Parameters:

meanarray-like, shape (3,)

Mean of distribution

covarray-like, shape (3, 3)

Covariance of distribution

Returns:

ellipsoid2originarray, shape (4, 4)

Ellipsoid frame in world frame

radiiarray, shape (3,)

Radii of ellipsoid