gtsam
4.0.0
gtsam

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  
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
gtsam::Sampler::Sampler  (  const Vector &  sigmas, 
int32_t  seed = 42u 

) 
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