// Sample from the proposal distribution.
ParticleState ParticleFilterSIRBicycleGlobal::sampleProposal(ParticleState& particleInitial, double timeStep, Control& control, Observation& observation)
{
//std::random_device rd;
//std::normal_distribution<double> normal(0,1);
//std::ranlux64_base_01 randengine;//(rd());
//randengine.seed(rd());
//double a=normal(randengine);
//std::cout << "normal test = " << a << std::endl;
//HERE
ParticleState newParticle;
//std::cout << "before" << std::endl;
std::normal_distribution<double> stdNormal(0., 1.);
//std::uniform_real<double> unif(0., 1.);
//std::cout << "uniform = " << unif(engine) << std::endl;
//std::cout << "normal = " << stdNormal(engine) << std::endl;
motion::State2D processNoise;
processNoise.right = std::sqrt(noiseVarProcess.right)*stdNormal(engine);
processNoise.up = std::sqrt(noiseVarProcess.up)*stdNormal(engine);
processNoise.orient = std::sqrt(noiseVarProcess.orient)*stdNormal(engine);
//std::cout << "noise = " << processNoise << std::endl;
//std::cout << "after" << std::endl;
newParticle.state = bicycleModel.predict(particleInitial.state, timeStep, control.speed, control.steeringAngle, processNoise);
newParticle.weight = 1.;
return newParticle;
}
float RNG::normal(float mean, float sd) { return mean + sd * stdNormal(gen); }
