Removed boost/random usage from linear and discrete directories

gtsam/discrete/DiscreteConditional.cpp

@@ -23,13 +23,11 @@
 #include <gtsam/base/debug.h>
 
 #include <boost/make_shared.hpp>
-#include <boost/random/mersenne_twister.hpp>
-#include <boost/random/uniform_real.hpp>
-#include <boost/random/variate_generator.hpp>
 
-#include <vector>
 #include <algorithm>
+#include <random>
 #include <stdexcept>
+#include <vector>
 
 using namespace std;
 
@@ -176,8 +174,7 @@ size_t DiscreteConditional::solve(const Values& parentsValues) const {
 /* ******************************************************************************** */
 size_t DiscreteConditional::sample(const Values& parentsValues) const {
 
-  using boost::uniform_real;
+  static mt19937 rng(2); // random number generator
-  static boost::mt19937 gen(2); // random number generator
 
   bool debug = ISDEBUG("DiscreteConditional::sample");
 
@@ -209,9 +206,8 @@ size_t DiscreteConditional::sample(const Values& parentsValues) const {
   }
 
   // inspired by http://www.boost.org/doc/libs/1_46_1/doc/html/boost_random/tutorial.html
-  uniform_real<> dist(0, cdf.back());
+  uniform_real_distribution<double> dist(0, cdf.back());
-  boost::variate_generator<boost::mt19937&, uniform_real<> > die(gen, dist);
+  size_t sampled = lower_bound(cdf.begin(), cdf.end(), dist(rng)) - cdf.begin();
-  size_t sampled = lower_bound(cdf.begin(), cdf.end(), die()) - cdf.begin();
   if (debug)
     cout << "-> " << sampled << endl;
 

gtsam/linear/NoiseModel.cpp

@@ -21,15 +21,13 @@
 
 #include <boost/format.hpp>
 #include <boost/make_shared.hpp>
-#include <boost/random/linear_congruential.hpp>
-#include <boost/random/normal_distribution.hpp>
-#include <boost/random/variate_generator.hpp>
 
-#include <limits>
-#include <iostream>
-#include <typeinfo>
-#include <stdexcept>
 #include <cmath>
+#include <iostream>
+#include <limits>
+#include <random>
+#include <stdexcept>
+#include <typeinfo>
 
 using namespace std;
 

gtsam/linear/Sampler.cpp

@@ -46,10 +46,9 @@ Vector Sampler::sampleDiagonal(const Vector& sigmas) {
     if (sigma == 0.0) {
       result(i) = 0.0;
     } else {
-      typedef boost::normal_distribution<double> Normal;
+      typedef std::normal_distribution<double> Normal;
       Normal dist(0.0, sigma);
-      boost::variate_generator<boost::mt19937_64&, Normal> norm(generator_, dist);
+      result(i) = dist(generator_);
-      result(i) = norm();
     }
   }
   return result;

gtsam/linear/Sampler.h

@@ -20,7 +20,7 @@
 
 #include <gtsam/linear/NoiseModel.h>
 
-#include <boost/random.hpp>
+#include <random>
 
 namespace gtsam {
 
@@ -37,7 +37,7 @@ protected:
   noiseModel::Diagonal::shared_ptr model_;
 
   /** generator */
-  boost::mt19937_64 generator_;
+  std::mt19937_64 generator_;
 
 public:
   typedef boost::shared_ptr<Sampler> shared_ptr;