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 <random>

namespace gtsam {

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

  mutable std::mt19937_64 generator_;

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


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

  explicit Sampler(const Vector& sigmas, uint_fast64_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() const;


 protected:
  Vector sampleDiagonal(const Vector& sigmas) const;
};

}  // namespace gtsam