model_search.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers

#include <mrpt/math/model_search.h>

using namespace mrpt;
using namespace mrpt::math;

//----------------------------------------------------------------------
//! Select random (unique) indices from the 0..p_size sequence
void ModelSearch::pickRandomIndex(
        size_t p_size, size_t p_pick, vector_size_t& p_ind)
{
        ASSERT_(p_size >= p_pick);

        vector_size_t a(p_size);
        for (size_t i = 0; i < p_size; i++) a[i] = i;

        std::random_shuffle(a.begin(), a.end());
        p_ind.resize(p_pick);
        for (size_t i = 0; i < p_pick; i++) p_ind[i] = a[i];
}

//----------------------------------------------------------------------
//! Select random (unique) indices from the set.
//! The set is destroyed during pick
void ModelSearch::pickRandomIndex(
        std::set<size_t> p_set, size_t p_pick, vector_size_t& p_ind)
{
        p_ind.resize(p_pick);
        vector_size_t inds(p_set.begin(), p_set.end());

        std::random_shuffle(inds.begin(), inds.end());
        p_ind.resize(p_pick);
        for (size_t i = 0; i < p_pick; i++) p_ind[i] = inds[i];
}