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See e.g. Chapter 8.1.2 in The Matrix Cookbook.
conditional_Sigma(x_a, mu_a, mu_b, Sigma)
numeric vector with the conditional covariance matrix
(Observed) first part of normally distributed vector.
Mean of second part of normally distributed vector.
Mean of first part of normally distributed vector.
covariance matrix of test statistic vector c(Z_TP1, Z_TP2, Z_TC1, Z_TC2).
Petersen, K. B., & Pedersen, M. S. (2008). The matrix cookbook. Technical University of Denmark, 7(15), 510.