g2o::Sampler Class Reference

#include <sampler.h>

Static Public Member Functions
static double	gaussRand (double mean, double sigma)
static double	uniformRand (double lowerBndr, double upperBndr)
static void	seedRand ()
static void	seedRand (unsigned int seed)

Detailed Description

Definition at line 83 of file sampler.h.

Member Function Documentation

gaussRand()

double g2o::Sampler::gaussRand ( double mean, double sigma )

inlinestatic

Gaussian random with a mean and standard deviation. Uses the Polar method of Marsaglia.

Definition at line 89 of file sampler.h.

                                                     {
    double y, r2;
    do {
      double x = -1.0 + 2.0 * uniformRand(0.0, 1.0);
      y = -1.0 + 2.0 * uniformRand(0.0, 1.0);
      r2 = x * x + y * y;
    } while (r2 > 1.0 || r2 == 0.0);
    return mean + sigma * y * std::sqrt(-2.0 * log(r2) / r2);
  }

References uniformRand().

Referenced by main(), main(), main(), sample_noise_from_line(), sample_noise_from_plane(), sample_noise_from_se3(), g2o::tutorial::Simulator::sampleTransformation(), and g2o::tutorial::Simulator::simulate().

seedRand() [1/2]

void g2o::Sampler::seedRand ( )

inlinestatic

default seed function using the current time in seconds

Definition at line 109 of file sampler.h.

                         {
    seedRand(static_cast<unsigned int>(std::time(NULL)));
  }

References seedRand().

Referenced by main(), seedRand(), and g2o::tutorial::Simulator::Simulator().

seedRand() [2/2]

void g2o::Sampler::seedRand ( unsigned int seed )

inlinestatic

seed the random number generator

Definition at line 114 of file sampler.h.

{ std::srand(seed); }

uniformRand()

double g2o::Sampler::uniformRand ( double lowerBndr, double upperBndr )

inlinestatic

sample a number from a uniform distribution

Definition at line 102 of file sampler.h.

                                                                {
    return lowerBndr +
           ((double)std::rand() / (RAND_MAX + 1.0)) * (upperBndr - lowerBndr);
  }

Referenced by gaussRand(), main(), main(), main(), g2o::tutorial::Simulator::simulate(), and Sample::uniform().

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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