Sampler.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/linear/NoiseModel.h>

#include <boost/random.hpp>

namespace gtsam {

class GTSAM_EXPORT Sampler {
protected:
  noiseModel::Diagonal::shared_ptr model_;

  boost::mt19937_64 generator_;

public:
  typedef boost::shared_ptr<Sampler> shared_ptr;

  Sampler(const noiseModel::Diagonal::shared_ptr& model, int32_t seed = 42u);

  Sampler(const Vector& sigmas, int32_t seed = 42u);

  Sampler(int32_t seed = 42u);

  size_t dim() const { assert(model_.get()); return model_->dim(); }
  Vector sigmas() const { assert(model_.get()); return model_->sigmas(); }
  const noiseModel::Diagonal::shared_ptr& model() const { return model_; }

  Vector sample();

  Vector sampleNewModel(const noiseModel::Diagonal::shared_ptr& model);

protected:

  Vector sampleDiagonal(const Vector& sigmas);

};

} // \namespace gtsam