Fix and test mkd stats

src/CommonUtils.jl

@@ -60,20 +60,20 @@ function updateProductSample( dest::BallTreeDensity,
   manikde!(pts, manifolds)
 end
 
-function Statistics.cov(mkd::ManifoldKernelDensity, args...; kwargs...) 
-  cov(mkd.manifold, getPoints(mkd),  args...; kwargs...)
+function Statistics.cov(mkd::ManifoldKernelDensity; kwargs...) 
+  cov(mkd.manifold, getPoints(mkd); kwargs...)
 end
 
-function Statistics.mean(mkd::ManifoldKernelDensity, args...; kwargs...)
-  return mean(mkd.manifold, getPoints(mkd), args...; kwargs...)
+function Statistics.mean(mkd::ManifoldKernelDensity; kwargs...)
+  return mean(mkd.manifold, getPoints(mkd); kwargs...)
 end
 
-function Statistics.std(mkd::ManifoldKernelDensity, args...; kwargs...)
-  return std(mkd.manifold, getPoints(mkd), args...; kwargs...)
+function Statistics.std(mkd::ManifoldKernelDensity; kwargs...)
+  return std(mkd.manifold, getPoints(mkd); kwargs...)
 end
 
-function Statistics.var(mkd::ManifoldKernelDensity, args...; kwargs...)
-  return var(mkd.manifold, getPoints(mkd), args...; kwargs...)
+function Statistics.var(mkd::ManifoldKernelDensity; kwargs...)
+  return var(mkd.manifold, getPoints(mkd); kwargs...)
 end
 
 

test/runtests.jl

@@ -16,5 +16,6 @@ include("testPartialProductSE2.jl")
 include("basic_se3.jl")
 include("testSymmetry.jl")
 include("testUpdateMKD.jl")
+include("testMKDStats.jl")
 
 #

test/testMKDStats.jl

@@ -0,0 +1,21 @@
+using Test
+using ApproxManifoldProducts
+using Manifolds
+
+@testset "Test basic MKD statistics" begin
+
+
+M = SpecialEuclidean(2)
+u0 = ArrayPartition(zeros(2),[1 0; 0 1.0])
+ϵ = identity_element(M, u0)
+
+pts = [exp(M, ϵ, hat(M, ϵ, [0.05*randn(2);0.75*randn()])) for i in 1:100]
+
+P = manikde!(M, pts)
+
+@test isapprox(M, mean(P), mean(M, pts))
+@test isapprox(var(P), var(M, pts))
+@test isapprox(std(P), std(M, pts))
+@test isapprox(cov(P), cov(M, pts))
+
+end