Detailed Description

Sampling structure that keeps internal random number generators for diagonal distributions specified by NoiseModel.

This is primarily to allow for variable seeds, and does roughly the same thing as sample() in NoiseModel.

Public Member Functions
	Sampler (const noiseModel::Diagonal::shared_ptr &model, int32_t seed=42u)
	Create a sampler for the distribution specified by a diagonal NoiseModel with a manually specified seed. More...

	Sampler (const Vector &sigmas, int32_t seed=42u)
	Create a sampler for a distribution specified by a vector of sigmas directly. More...

	Sampler (int32_t seed=42u)
	Create a sampler without a given noisemodel - pass in to sample. More...

size_t	dim () const
	access functions

Vector	sigmas () const

const noiseModel::Diagonal::shared_ptr &	model () const

Vector	sample ()
	sample from distribution NOTE: not const due to need to update the underlying generator

Vector	sampleNewModel (const noiseModel::Diagonal::shared_ptr &model)
	Sample from noisemodel passed in as an argument, can be used without having initialized a model for the system. More...

Public Types
typedef boost::shared_ptr< Sampler >	shared_ptr

Protected Member Functions
Vector	sampleDiagonal (const Vector &sigmas)
	given sigmas for a diagonal model, returns a sample

Protected Attributes
noiseModel::Diagonal::shared_ptr	model_
	noiseModel created at generation

boost::mt19937_64	generator_
	generator

Constructor & Destructor Documentation

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

Create a sampler for the distribution specified by a diagonal NoiseModel with a manually specified seed.

NOTE: do not use zero as a seed, it will break the generator

Create a sampler for a distribution specified by a vector of sigmas directly.

NOTE: do not use zero as a seed, it will break the generator

gtsam::Sampler::Sampler ( int32_t seed = 42u )

Create a sampler without a given noisemodel - pass in to sample.

NOTE: do not use zero as a seed, it will break the generator

Vector gtsam::Sampler::sampleNewModel ( const noiseModel::Diagonal::shared_ptr & model )

Sample from noisemodel passed in as an argument, can be used without having initialized a model for the system.

NOTE: not const due to need to update the underlying generator

The documentation for this class was generated from the following files: