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Using variate_generator in Sphere2 random for compatibility with old boost

release/4.3a0
Richard Roberts 2014-02-12 19:41:23 -05:00
parent 3fc41d5da3
commit 6df79b8dac
2 changed files with 7 additions and 2 deletions
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7
gtsam/geometry/Sphere2.cpp
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@ -22,6 +22,7 @@
#include <gtsam/geometry/Point2.h> #include <gtsam/geometry/Point2.h>
#include <boost/random/mersenne_twister.hpp> #include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_on_sphere.hpp> #include <boost/random/uniform_on_sphere.hpp>
#include <boost/random/variate_generator.hpp>
#include <iostream> #include <iostream>
using namespace std; using namespace std;
@ -47,7 +48,11 @@ Sphere2 Sphere2::FromPoint3(const Point3& point,
Sphere2 Sphere2::Random(boost::mt19937 & rng) { Sphere2 Sphere2::Random(boost::mt19937 & rng) {
// TODO allow any engine without including all of boost :-( // TODO allow any engine without including all of boost :-(
boost::uniform_on_sphere<double> randomDirection(3); boost::uniform_on_sphere<double> randomDirection(3);
vector<double> d = randomDirection(rng); // This variate_generator object is required for versions of boost somewhere
// around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng).
boost::variate_generator<boost::mt19937&, boost::uniform_on_sphere<double> >
generator(rng, randomDirection);
vector<double> d = generator();
Sphere2 result; Sphere2 result;
result.p_ = Point3(d[0], d[1], d[2]); result.p_ = Point3(d[0], d[1], d[2]);
return result; return result;

2
gtsam/geometry/tests/testSphere2.cpp
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@ -312,7 +312,7 @@ TEST(Sphere2, localCoordinates_retract_expmap) {
//******************************************************************************* //*******************************************************************************
TEST(Sphere2, Random) { TEST(Sphere2, Random) {
boost::random::mt19937 rng(42); boost::mt19937 rng(42);
// Check that is deterministic given same random seed // Check that is deterministic given same random seed
Point3 expected(-0.667578, 0.671447, 0.321713); Point3 expected(-0.667578, 0.671447, 0.321713);
Point3 actual = Sphere2::Random(rng).point3(); Point3 actual = Sphere2::Random(rng).point3();