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function h = draw_ellipse(x, c, outline_color, fill_color)
% DRAW_ELLIPSE(x, c, outline_color, fill_color)
% Draws ellipses at centers x with covariance matrix c.
% x is a matrix of columns. c is a positive definite matrix.
% outline_color and fill_color are optional.
n = 40; % resolution
radians = [0:(2*pi)/(n-1):2*pi];
unitC = [sin(radians); cos(radians)];
r = chol(c)';
if nargin < 3
outline_color = 'g';
end
h = [];
for i=1:cols(x)
y = r*unitC + repmat(x(:, i), 1, n);
if nargin < 4
h = [h line(y(1,:), y(2,:), 'Color', outline_color)];
else
h = [h fill(y(1,:), y(2,:), fill_color, 'EdgeColor', outline_color)];
end
end
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