Cone-plane intersection

Compute the intersection of a cone and a plane, where the result is represented as an ellipse

This function computes the intersection of a cone and a plane, where the result is represented either as an ellipse or in the form of a Gaussian distribution.

This algorithm can be used to extract probabilistically information concerning gazing or pointing direction. Indeed, by representing a visual field as a cone and representing a table as a plane, the Gaussian distribution can be used to compute the probability that one object on the table is observed/pointed by the user.

The source code is an implementation of the algorithms described in the book "Robot Programming by Demonstration: A Probabilistic Approach", EPFL/CRC Press (more information on http://programming-by-demonstration.org/book/)