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

Revert "add optional model parameter to sample method" 

This reverts commit ffd1802cea.
release/4.3a0
Varun Agrawal 2022-12-24 20:11:19 +05:30
parent bdb7836d0e
commit aa86af2d77
4 changed files with 16 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/linear/GaussianBayesNet.cpp
View File

@ -59,18 +59,16 @@ namespace gtsam {
}
/* ************************************************************************ */
VectorValues GaussianBayesNet::sample(std::mt19937_64* rng,
const SharedDiagonal& model) const {
VectorValues GaussianBayesNet::sample(std::mt19937_64* rng) const {
VectorValues result; // no missing variables -> create an empty vector
return sample(result, rng, model);
return sample(result, rng);
}
VectorValues GaussianBayesNet::sample(VectorValues result,
std::mt19937_64* rng,
const SharedDiagonal& model) const {
std::mt19937_64* rng) const {
// sample each node in reverse topological sort order (parents first)
for (auto cg : boost::adaptors::reverse(*this)) {
const VectorValues sampled = cg->sample(result, rng, model);
const VectorValues sampled = cg->sample(result, rng);
result.insert(sampled);
}
return result;

6
gtsam/linear/GaussianBayesNet.h
View File

@ -101,8 +101,7 @@ namespace gtsam {
* std::mt19937_64 rng(42);
* auto sample = gbn.sample(&rng);
*/
VectorValues sample(std::mt19937_64* rng,
const SharedDiagonal& model = nullptr) const;
VectorValues sample(std::mt19937_64* rng) const;
/**
* Sample from an incomplete BayesNet, given missing variables
@ -111,8 +110,7 @@ namespace gtsam {
* VectorValues given = ...;
* auto sample = gbn.sample(given, &rng);
*/
VectorValues sample(VectorValues given, std::mt19937_64* rng,
const SharedDiagonal& model = nullptr) const;
VectorValues sample(VectorValues given, std::mt19937_64* rng) const;
/// Sample using ancestral sampling, use default rng
VectorValues sample() const;

22
gtsam/linear/GaussianConditional.cpp
View File

@ -279,38 +279,30 @@ namespace gtsam {
/* ************************************************************************ */
VectorValues GaussianConditional::sample(const VectorValues& parentsValues,
std::mt19937_64* rng,
const SharedDiagonal& model) const {
std::mt19937_64* rng) const {
if (nrFrontals() != 1) {
throw std::invalid_argument(
"GaussianConditional::sample can only be called on single variable "
"conditionals");
}
VectorValues solution = solve(parentsValues);
Key key = firstFrontalKey();
Vector sigmas;
if (model_) {
sigmas = model_->sigmas();
} else if (model) {
sigmas = model->sigmas();
} else {
if (!model_) {
throw std::invalid_argument(
"GaussianConditional::sample can only be called if a diagonal noise "
"model was specified at construction.");
}
VectorValues solution = solve(parentsValues);
Key key = firstFrontalKey();
const Vector& sigmas = model_->sigmas();
solution[key] += Sampler::sampleDiagonal(sigmas, rng);
return solution;
}
VectorValues GaussianConditional::sample(std::mt19937_64* rng,
const SharedDiagonal& model) const {
VectorValues GaussianConditional::sample(std::mt19937_64* rng) const {
if (nrParents() != 0)
throw std::invalid_argument(
"sample() can only be invoked on no-parent prior");
VectorValues values;
return sample(values, rng, model);
return sample(values);
}
/* ************************************************************************ */

7
gtsam/linear/GaussianConditional.h
View File

@ -166,8 +166,7 @@ namespace gtsam {
* std::mt19937_64 rng(42);
* auto sample = gbn.sample(&rng);
*/
VectorValues sample(std::mt19937_64* rng,
const SharedDiagonal& model = nullptr) const;
VectorValues sample(std::mt19937_64* rng) const;
/**
* Sample from conditional, given missing variables
@ -176,8 +175,8 @@ namespace gtsam {
* VectorValues given = ...;
* auto sample = gbn.sample(given, &rng);
*/
VectorValues sample(const VectorValues& parentsValues, std::mt19937_64* rng,
const SharedDiagonal& model = nullptr) const;
VectorValues sample(const VectorValues& parentsValues,
std::mt19937_64* rng) const;
/// Sample, use default rng
VectorValues sample() const;