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Fixed issues with deprecated Sampler methods

release/4.3a0
Frank Dellaert 2020-04-04 13:57:05 -04:00
parent 45cf253cec
commit d1d8543fc7
4 changed files with 6 additions and 9 deletions
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6
gtsam.h
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@ -1563,17 +1563,15 @@ virtual class Robust : gtsam::noiseModel::Base {
#include <gtsam/linear/Sampler.h> #include <gtsam/linear/Sampler.h>
class Sampler { class Sampler {
//Constructors // Constructors
Sampler(gtsam::noiseModel::Diagonal* model, int seed); Sampler(gtsam::noiseModel::Diagonal* model, int seed);
Sampler(Vector sigmas, int seed); Sampler(Vector sigmas, int seed);
Sampler(int seed);
//Standard Interface // Standard Interface
size_t dim() const; size_t dim() const;
Vector sigmas() const; Vector sigmas() const;
gtsam::noiseModel::Diagonal* model() const; gtsam::noiseModel::Diagonal* model() const;
Vector sample(); Vector sample();
Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
}; };
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>

1
gtsam/linear/NoiseModel.cpp
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@ -25,7 +25,6 @@
#include <cmath> #include <cmath>
#include <iostream> #include <iostream>
#include <limits> #include <limits>
#include <random>
#include <stdexcept> #include <stdexcept>
#include <typeinfo> #include <typeinfo>

2
gtsam/navigation/ScenarioRunner.h
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@ -48,7 +48,7 @@ class GTSAM_EXPORT ScenarioRunner {
const Bias estimatedBias_; const Bias estimatedBias_;
// Create two samplers for acceleration and omega noise // Create two samplers for acceleration and omega noise
mutable Sampler gyroSampler_, accSampler_; Sampler gyroSampler_, accSampler_;
public: public:
ScenarioRunner(const Scenario& scenario, const SharedParams& p, ScenarioRunner(const Scenario& scenario, const SharedParams& p,

6
gtsam/slam/dataset.cpp
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@ -252,7 +252,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID,
is.seekg(0, ios::beg); is.seekg(0, ios::beg);
// If asked, create a sampler with random number generator // If asked, create a sampler with random number generator
Sampler sampler; std::unique_ptr<Sampler> sampler;
if (addNoise) { if (addNoise) {
noiseModel::Diagonal::shared_ptr noise; noiseModel::Diagonal::shared_ptr noise;
if (model) if (model)
@ -261,7 +261,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID,
throw invalid_argument( throw invalid_argument(
"gtsam::load2D: invalid noise model for adding noise" "gtsam::load2D: invalid noise model for adding noise"
"(current version assumes diagonal noise model)!"); "(current version assumes diagonal noise model)!");
sampler = Sampler(noise); sampler.reset(new Sampler(noise));
} }
// Parse the pose constraints // Parse the pose constraints
@ -289,7 +289,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID,
model = modelInFile; model = modelInFile;
if (addNoise) if (addNoise)
l1Xl2 = l1Xl2.retract(sampler.sample()); l1Xl2 = l1Xl2.retract(sampler->sample());
// Insert vertices if pure odometry file // Insert vertices if pure odometry file
if (!initial->exists(id1)) if (!initial->exists(id1))