C++ (Cpp) pf_ran_gaussian Exemples

Exemple #1

Fichier : stat.cpp Projet : Flandoe/openslam_gmapping

double sampleGaussian(double sigma, unsigned long int S) {
  /*
	static gsl_rng * r = NULL;
	if(r==NULL) {
		gsl_rng_env_setup();
		r = gsl_rng_alloc (gsl_rng_default);
	}
        */
	if (S!=0)
        {
		//gsl_rng_set(r, S);
                srand48(S);
        }
	if (sigma==0)
		return 0;
	//return gsl_ran_gaussian (r,sigma);
	return pf_ran_gaussian (sigma);
}

Exemple #2

Fichier : pf_pdf.c Projet : Hoopsel/Turtlebot-Autonomous-SLAM-and-Feature-Tracking-on-ROS

// Generate a sample from the the pdf.
pf_vector_t pf_pdf_gaussian_sample(pf_pdf_gaussian_t *pdf)
{
  int i, j;
  pf_vector_t r;
  pf_vector_t x;

  // Generate a random vector
  for (i = 0; i < 3; i++)
  {
    //r.v[i] = gsl_ran_gaussian(pdf->rng, pdf->cd.v[i]);
    r.v[i] = pf_ran_gaussian(pdf->cd.v[i]);
  }

  for (i = 0; i < 3; i++)
  {
    x.v[i] = pdf->x.v[i];
    for (j = 0; j < 3; j++)
      x.v[i] += pdf->cr.m[i][j] * r.v[j];
  } 
  
  return x;
}