g2o::GaussianSampler< SampleType, CovarianceType > Class Template Reference

#include <sampler.h>

Public Member Functions
	GaussianSampler (GaussianSampler const &)=delete
GaussianSampler &	operator= (const GaussianSampler &)=delete
	GaussianSampler (bool hasGenerator=true)
void	setDistribution (const CovarianceType &cov)
SampleType	generateSample ()
	return a sample of the Gaussian distribution
bool	seed (int s)

Protected Attributes
CovarianceType	_cholesky
std::unique_ptr< std::mt19937 >	_generator

Detailed Description

template<class SampleType, class CovarianceType>
class g2o::GaussianSampler< SampleType, CovarianceType >

Definition at line 47 of file sampler.h.

Constructor & Destructor Documentation

GaussianSampler() [1/2]

template<class SampleType , class CovarianceType >

g2o::GaussianSampler< SampleType, CovarianceType >::GaussianSampler ( GaussianSampler< SampleType, CovarianceType > const &  )

delete

GaussianSampler() [2/2]

template<class SampleType , class CovarianceType >

g2o::GaussianSampler< SampleType, CovarianceType >::GaussianSampler ( bool  hasGenerator = true )

inline

Definition at line 51 of file sampler.h.

      : _generator(hasGenerator ? new std::mt19937 : nullptr) {}

Member Function Documentation

generateSample()

template<class SampleType , class CovarianceType >

SampleType g2o::GaussianSampler< SampleType, CovarianceType >::generateSample ( )

inline

return a sample of the Gaussian distribution

Definition at line 63 of file sampler.h.

                              {
    SampleType s;
    for (int i = 0; i < s.size(); i++) {
      s(i) = (_generator) ? sampleGaussian(_generator.get()) : sampleGaussian();
    }
    return _cholesky * s;
  }

References g2o::GaussianSampler< SampleType, CovarianceType >::_cholesky, g2o::GaussianSampler< SampleType, CovarianceType >::_generator, and g2o::sampleGaussian().

Referenced by g2o::SensorOdometry2D::addNoise(), g2o::SensorOdometry3D::addNoise(), g2o::SensorPointXY::addNoise(), g2o::SensorPointXYBearing::addNoise(), g2o::SensorPointXYOffset::addNoise(), g2o::SensorPointXYZ::addNoise(), g2o::SensorPointXYZDepth::addNoise(), g2o::SensorPointXYZDisparity::addNoise(), g2o::SensorPose2D::addNoise(), g2o::SensorPose3D::addNoise(), g2o::SensorPose3DOffset::addNoise(), g2o::SensorSE3Prior::addNoise(), g2o::SensorSegment2D::addNoise(), g2o::SensorSegment2DLine::addNoise(), g2o::SensorSegment2DPointLine::addNoise(), and main().

operator=()

template<class SampleType , class CovarianceType >

GaussianSampler & g2o::GaussianSampler< SampleType, CovarianceType >::operator= ( const GaussianSampler< SampleType, CovarianceType > &  )

delete

seed()

template<class SampleType , class CovarianceType >

bool g2o::GaussianSampler< SampleType, CovarianceType >::seed ( int  s )

inline

seed the random number generator, returns false if not having an own generator.

Definition at line 72 of file sampler.h.

                   {
    if (!_generator) return false;
    _generator->seed(s);
    return true;
  }

References g2o::GaussianSampler< SampleType, CovarianceType >::_generator.

Referenced by main().

setDistribution()

template<class SampleType , class CovarianceType >

void g2o::GaussianSampler< SampleType, CovarianceType >::setDistribution ( const CovarianceType &  cov )

inline

Definition at line 53 of file sampler.h.

                                                  {
    Eigen::LLT<CovarianceType> cholDecomp;
    cholDecomp.compute(cov);
    if (cholDecomp.info() == Eigen::NumericalIssue) {
      assert(false && "Cholesky decomposition on the covariance matrix failed");
      return;
    }
    _cholesky = cholDecomp.matrixL();
  }

References g2o::GaussianSampler< SampleType, CovarianceType >::_cholesky.

Referenced by main(), g2o::UnarySensor< RobotType_, EdgeType_ >::setInformation(), and g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::setInformation().

Member Data Documentation

_cholesky

template<class SampleType , class CovarianceType >

CovarianceType g2o::GaussianSampler< SampleType, CovarianceType >::_cholesky

protected

Definition at line 79 of file sampler.h.

Referenced by g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), and g2o::GaussianSampler< SampleType, CovarianceType >::setDistribution().

_generator

template<class SampleType , class CovarianceType >

std::unique_ptr<std::mt19937> g2o::GaussianSampler< SampleType, CovarianceType >::_generator

protected

Definition at line 80 of file sampler.h.

Referenced by g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), and g2o::GaussianSampler< SampleType, CovarianceType >::seed().

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

• /build/reproducible-path/g2o-0~20230806/g2o/stuff/sampler.h