/*--------------------------------------------------------------- drawSingleSample ---------------------------------------------------------------*/ void CPosePDFGaussian::drawSingleSample(CPose2D& outPart) const { MRPT_START CVectorDouble v; getRandomGenerator().drawGaussianMultivariate(v, cov); outPart.x(mean.x() + v[0]); outPart.y(mean.y() + v[1]); outPart.phi(mean.phi() + v[2]); // Range -pi,pi outPart.normalizePhi(); MRPT_END_WITH_CLEAN_UP( cov.saveToTextFile("__DEBUG_EXC_DUMP_drawSingleSample_COV.txt"););