Add uniform distribution with bounding regions #322
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Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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hidmic
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Feb 16, 2024
beluga/include/beluga/random/multivariate_uniform_distribution.hpp
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Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
This was referenced Feb 17, 2024
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### Proposed changes Connected to #279. Follow-up to #322. This is a long due change, and as I was reworking sensor models I figured it was appropriate. This patch removes `make_random_state()` from sensor models. As we still support mixins, it relocates `make_random_state()` to the `RandomStateGenerator` mixin, which now takes both state and map as template parameters. #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀 Feature (change which adds functionality) - [ ] 📚 Documentation (change which fixes or extends documentation) 💥 **Breaking change!** Sensor models no longer have nor require a `make_random_state()` method. ### Checklist - [x] Lint and unit tests (if any) pass locally with my changes - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) ### Additional comments I'm not super fond of these changes to `RandomStateGenerator`, but they are not unreasonable in context and it is arguably a temporary workaround. We also have to update https://github.com/Ekumen-OS/beluga-demos to match. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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### Proposed changes Follow-up to #322 and #324. This patch turns `LandmarkMapBoundaries` into an `Eigen::AlignedBox3d` alias. #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀 Feature (change which adds functionality) - [ ] 📚 Documentation (change which fixes or extends documentation) 💥 **Breaking change!** This will allow us to use `LandmarkMap` limits as constraint for `MultivariateUniformDistribution` instances. ### Checklist - [x] Lint and unit tests (if any) pass locally with my changes - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) ### Additional comments We have to update https://github.com/Ekumen-OS/beluga-demos too. Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Proposed changes
A follow-up to #319, implementing multivariate uniform distributions constrained by a bounding region. This is required for landmark maps support.
Related to #279.
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