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Add a static method to actually sample

release/4.3a0
Frank Dellaert 2022-02-06 20:21:19 -05:00
parent a25378abe7
commit d2f6224b84
2 changed files with 17 additions and 13 deletions
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18
gtsam/linear/Sampler.cpp
View File

@ -22,14 +22,18 @@ namespace gtsam {
/* ************************************************************************* */
Sampler::Sampler(const noiseModel::Diagonal::shared_ptr& model,
uint_fast64_t seed)
: model_(model), generator_(seed) {}
: model_(model), generator_(seed) {
if (!model) {
throw std::invalid_argument("Sampler::Sampler needs a non-null model.");
}
}
/* ************************************************************************* */
Sampler::Sampler(const Vector& sigmas, uint_fast64_t seed)
: model_(noiseModel::Diagonal::Sigmas(sigmas, true)), generator_(seed) {}
/* ************************************************************************* */
Vector Sampler::sampleDiagonal(const Vector& sigmas) const {
Vector Sampler::sampleDiagonal(const Vector& sigmas, std::mt19937_64* rng) {
size_t d = sigmas.size();
Vector result(d);
for (size_t i = 0; i < d; i++) {
@ -39,14 +43,18 @@ Vector Sampler::sampleDiagonal(const Vector& sigmas) const {
if (sigma == 0.0) {
result(i) = 0.0;
} else {
typedef std::normal_distribution<double> Normal;
Normal dist(0.0, sigma);
result(i) = dist(generator_);
std::normal_distribution<double> dist(0.0, sigma);
result(i) = dist(*rng);
}
}
return result;
}
/* ************************************************************************* */
Vector Sampler::sampleDiagonal(const Vector& sigmas) const {
return sampleDiagonal(sigmas, &generator_);
}
/* ************************************************************************* */
Vector Sampler::sample() const {
assert(model_.get());

12
gtsam/linear/Sampler.h
View File

@ -63,15 +63,9 @@ class GTSAM_EXPORT Sampler {
/// @name access functions
/// @{
size_t dim() const {
assert(model_.get());
return model_->dim();
}
size_t dim() const { return model_->dim(); }
Vector sigmas() const {
assert(model_.get());
return model_->sigmas();
}
Vector sigmas() const { return model_->sigmas(); }
const noiseModel::Diagonal::shared_ptr& model() const { return model_; }
@ -82,6 +76,8 @@ class GTSAM_EXPORT Sampler {
/// sample from distribution
Vector sample() const;
/// sample with given random number generator
static Vector sampleDiagonal(const Vector& sigmas, std::mt19937_64* rng);
/// @}
protected: