Fixed issues with deprecated Sampler methods

gtsam.h

@@ -1566,14 +1566,12 @@ class Sampler {
   // Constructors
   Sampler(gtsam::noiseModel::Diagonal* model, int seed);
   Sampler(Vector sigmas, int seed);
-  Sampler(int seed);
 
   // Standard Interface
   size_t dim() const;
   Vector sigmas() const;
   gtsam::noiseModel::Diagonal* model() const;
   Vector sample();
-  Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
 };
 
 #include <gtsam/linear/VectorValues.h>

gtsam/linear/NoiseModel.cpp

@@ -25,7 +25,6 @@
 #include <cmath>
 #include <iostream>
 #include <limits>
-#include <random>
 #include <stdexcept>
 #include <typeinfo>
 

gtsam/navigation/ScenarioRunner.h

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

gtsam/slam/dataset.cpp

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