Sampler.h

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

 * 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 std::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 { return model_->dim(); }

  Vector sigmas() const { return model_->sigmas(); }

  const noiseModel::Diagonal::shared_ptr& model() const { return model_; }


  Vector sample() const;

  static Vector sampleDiagonal(const Vector& sigmas, std::mt19937_64* rng);

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

}  // namespace gtsam