gtsam 4.2.0
gtsam
gtsam::Sampler Class Reference

Detailed Description

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

basic functionality

Vector sample () const
 sample from distribution
 
static Vector sampleDiagonal (const Vector &sigmas, std::mt19937_64 *rng)
 sample with given random number generator
 

Public Member Functions

constructors
 Sampler (const noiseModel::Diagonal::shared_ptr &model, uint_fast64_t seed=42u)
 Create a sampler for the distribution specified by a diagonal NoiseModel with a manually specified seed. More...
 
 Sampler (const Vector &sigmas, uint_fast64_t seed=42u)
 Create a sampler for a distribution specified by a vector of sigmas directly. More...
 
access functions
size_t dim () const
 
Vector sigmas () const
 
const noiseModel::Diagonal::shared_ptr & model () const
 

Public Types

typedef boost::shared_ptr< Samplershared_ptr
 

Protected Member Functions

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

Protected Attributes

noiseModel::Diagonal::shared_ptr model_
 noiseModel created at generation
 
std::mt19937_64 generator_
 generator
 

Constructor & Destructor Documentation

◆ Sampler() [1/2]

gtsam::Sampler::Sampler ( const noiseModel::Diagonal::shared_ptr &  model,
uint_fast64_t  seed = 42u 
)
explicit

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

◆ Sampler() [2/2]

gtsam::Sampler::Sampler ( const Vector &  sigmas,
uint_fast64_t  seed = 42u 
)
explicit

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


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