Merge pull request #120 from JuliaRobotics/21Q3/enh/fixes

fix rand for ManifoldKernelDensity
JuliaRobotics · Jul 23, 2021 · 3d73a9f · 3d73a9f
2 parents 3bd7b83 + 407c16f
commit 3d73a9f
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "ApproxManifoldProducts"
 uuid = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
 keywords = ["MM-iSAMv2", "SLAM", "inference", "sum-product", "belief-propagation", "nonparametric", "manifolds", "functional"]
-version = "0.4.8"
+version = "0.4.9"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

diff --git a/src/Legacy.jl b/src/Legacy.jl
@@ -111,7 +111,6 @@ Ndim(x::ManifoldKernelDensity, w...;kw...) = Ndim(x.belief,w...;kw...)
 Npts(x::ManifoldKernelDensity, w...;kw...) = Npts(x.belief,w...;kw...)
 
 getWeights(x::ManifoldKernelDensity, w...;kw...) = getWeights(x.belief, w...;kw...)
-Random.rand(x::ManifoldKernelDensity, d::Integer=1) = rand(x.belief, d)
 
 getKDERange(x::ManifoldKernelDensity, w...;kw...) = getKDERange(x.belief, w...;kw...)
 getKDEMax(x::ManifoldKernelDensity, w...;kw...) = getKDEMax(x.belief, w...;kw...)

diff --git a/src/services/ManifoldKernelDensity.jl b/src/services/ManifoldKernelDensity.jl
@@ -162,6 +162,9 @@ function sample(x::ManifoldKernelDensity{M,B,L,P}, N::Int) where {M,B,L,P}
   vecP, lbls
 end
 
+Random.rand(mkd::ManifoldKernelDensity, N::Integer=1) = sample(mkd, N)[1]
+
+
 
 function resample(x::ManifoldKernelDensity, N::Int)
   pts, = sample(x, N)