sampler.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
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//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
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#include "sampler.h"
 
namespace g2o {
 
static std::normal_distribution<double> _univariateSampler(0., 1.);
static std::uniform_real_distribution<double> _uniformReal;
static std::mt19937 _gen_real;
 
double sampleUniform(double min, double max, std::mt19937* generator) {
  if (generator) return _uniformReal(*generator) * (max - min) + min;
  return _uniformReal(_gen_real) * (max - min) + min;
}
 
double sampleGaussian(std::mt19937* generator) {
  if (generator) return _univariateSampler(*generator);
  return _univariateSampler(_gen_real);
}
 
}  // namespace g2o