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

#include <sampler.h>

Collaboration diagram for g2o::GaussianSampler< SampleType, CovarianceType >:

Public Member Functions
	GaussianSampler (bool hasGenerator=true)
	~GaussianSampler ()
void	setDistribution (const CovarianceType &cov)
SampleType	generateSample ()

Protected Attributes
CovarianceType	_cholesky
std::mt19937 *	_generator

Detailed Description

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

Definition at line 48 of file sampler.h.

Constructor & Destructor Documentation

template<class SampleType, class CovarianceType>

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

inline

Definition at line 50 of file sampler.h.

                                            :
      _generator(0)
    {
      if (hasGenerator){
        _generator = new std::mt19937;
      }
    }

template<class SampleType, class CovarianceType>

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

inline

Definition at line 57 of file sampler.h.

                       {
      delete _generator;
    }

Member Function Documentation

template<class SampleType, class CovarianceType>

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

inline

Definition at line 67 of file sampler.h.

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

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

template<class SampleType, class CovarianceType>

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

inline

Definition at line 60 of file sampler.h.

Referenced by main().

                                                   {
      Eigen::LLT<CovarianceType> cholDecomp;
      cholDecomp.compute(cov);
      if (cholDecomp.info()==Eigen::NumericalIssue)
        return;
      _cholesky=cholDecomp.matrixL();
    }

Member Data Documentation

template<class SampleType, class CovarianceType>

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

protected

Definition at line 75 of file sampler.h.

Referenced by g2o::GaussianSampler< typename EdgeType::ErrorVector, InformationType >::generateSample(), and g2o::GaussianSampler< typename EdgeType::ErrorVector, InformationType >::setDistribution().

template<class SampleType, class CovarianceType>

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

protected

Definition at line 76 of file sampler.h.

Referenced by g2o::GaussianSampler< typename EdgeType::ErrorVector, InformationType >::GaussianSampler(), g2o::GaussianSampler< typename EdgeType::ErrorVector, InformationType >::generateSample(), and g2o::GaussianSampler< typename EdgeType::ErrorVector, InformationType >::~GaussianSampler().

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

• /home/xuezhisd/CLionProjects/g2o/g2o/stuff/sampler.h