def get_likelihood(self, d):
"""" sample a data point for this edge """
pos = d.pos - self.parent.pos
pos = np.dot(rotmat(-self.angle), pos)
lik = halfnorm.pdf(pos[0],scale=self.length) * \
vonmises.pdf(np.arctan2(pos[1],pos[0]),self.vonmisesscale,loc=self.angle)
#assert lik!=0.0
return lik
def get_likelihood_angle(self, d):
"""" sample a data point for this edge """
pos = d.pos - self.parent.pos
lik = vonmises.pdf(np.arctan2(pos[1],pos[0]),self.vonmisesscale,loc=self.angle)
return lik
