12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

make GaussianBayesNet::sample functional

release/4.3a0
Varun Agrawal 2022-12-24 10:21:15 +05:30
parent f6a2e7cf46
commit 77b4028e47
2 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/linear/GaussianBayesNet.cpp
View File

@ -64,8 +64,9 @@ namespace gtsam {
return sample(result, rng);
}
VectorValues GaussianBayesNet::sample(VectorValues result,
VectorValues GaussianBayesNet::sample(const VectorValues& given,
std::mt19937_64* rng) const {
VectorValues result(given);
// sample each node in reverse topological sort order (parents first)
for (auto cg : boost::adaptors::reverse(*this)) {
const VectorValues sampled = cg->sample(result, rng);
@ -79,7 +80,7 @@ namespace gtsam {
return sample(&kRandomNumberGenerator);
}
VectorValues GaussianBayesNet::sample(VectorValues given) const {
VectorValues GaussianBayesNet::sample(const VectorValues& given) const {
return sample(given, &kRandomNumberGenerator);
}

4
gtsam/linear/GaussianBayesNet.h
View File

@ -110,13 +110,13 @@ namespace gtsam {
* VectorValues given = ...;
* auto sample = gbn.sample(given, &rng);
*/
VectorValues sample(VectorValues given, std::mt19937_64* rng) const;
VectorValues sample(const VectorValues& given, std::mt19937_64* rng) const;
/// Sample using ancestral sampling, use default rng
VectorValues sample() const;
/// Sample from an incomplete BayesNet, use default rng
VectorValues sample(VectorValues given) const;
VectorValues sample(const VectorValues& given) const;
/**
* Return ordering corresponding to a topological sort.