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sampling from NoiseModel

release/4.3a0
Frank Dellaert 2010-01-21 08:31:18 +00:00
parent 8fd0c2ae72
commit 0dc4f417e9
3 changed files with 40 additions and 1 deletions
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3
.cproject
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@ -8,6 +8,7 @@
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
@ -18,7 +19,7 @@
<configuration artifactName="gtsam" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544" name="MacOSX GCC" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194" name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.macosx.base.677243255" name="cdt.managedbuild.toolchain.gnu.macosx.base" superClass="cdt.managedbuild.toolchain.gnu.macosx.base">
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.MachO" id="cdt.managedbuild.target.gnu.platform.macosx.base.752782918" name="Debug Platform" osList="macosx" superClass="cdt.managedbuild.target.gnu.platform.macosx.base"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.MachO;org.eclipse.cdt.core.ELF" id="cdt.managedbuild.target.gnu.platform.macosx.base.752782918" name="Debug Platform" osList="macosx" superClass="cdt.managedbuild.target.gnu.platform.macosx.base"/>
<builder arguments="" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="2" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
<tool id="cdt.managedbuild.tool.macosx.c.linker.macosx.base.457360678" name="MacOS X C Linker" superClass="cdt.managedbuild.tool.macosx.c.linker.macosx.base"/>
<tool id="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base.1011140787" name="MacOS X C++ Linker" superClass="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base">

27
cpp/NoiseModel.cpp
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@ -10,9 +10,14 @@
#include <iostream>
#include <typeinfo>
#include <stdexcept>
#include <boost/numeric/ublas/lu.hpp>
#include <boost/numeric/ublas/io.hpp>
#include <boost/foreach.hpp>
#include <boost/random/linear_congruential.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/random/variate_generator.hpp>
#include "NoiseModel.h"
namespace ublas = boost::numeric::ublas;
@ -146,6 +151,17 @@ namespace gtsam {
H = vector_scale(invsigmas_, H);
}
Vector Diagonal::sample() const {
Vector result(dim_);
for (int i = 0; i < dim_; i++) {
typedef boost::normal_distribution<double> Normal;
Normal dist(0.0, this->sigmas_(i));
boost::variate_generator<boost::minstd_rand&, Normal> norm(generator, dist);
result(i) = norm();
}
return result;
}
/* ************************************************************************* */
void Constrained::print(const std::string& name) const {
@ -266,6 +282,17 @@ namespace gtsam {
H *= invsigma_;
}
// faster version
Vector Isotropic::sample() const {
typedef boost::normal_distribution<double> Normal;
Normal dist(0.0, this->sigma_);
boost::variate_generator<boost::minstd_rand&, Normal> norm(generator, dist);
Vector result(dim_);
for (int i = 0; i < dim_; i++)
result(i) = norm();
return result;
}
/* ************************************************************************* */
void Unit::print(const std::string& name) const {
cout << "Unit (" << dim_ << ") " << name << endl;

11
cpp/NoiseModel.h
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@ -218,6 +218,11 @@ namespace gtsam {
inline const Vector& sigmas() const { return sigmas_; }
inline double sigma(size_t i) const { return sigmas_(i); }
/**
* generate random variate
*/
virtual Vector sample() const;
}; // Diagonal
@ -331,6 +336,12 @@ namespace gtsam {
* Return standard deviation
*/
inline double sigma() const { return sigma_; }
/**
* generate random variate
*/
virtual Vector sample() const;
};
/**