# sampleGaussian

Sample state using Gaussian distribution

Since R2019b

## Syntax

``state = sampleGaussian(space,meanState,stdDev)``
``state = sampleGaussian(space,meanState,stdDev,numSamples)``

## Description

````state = sampleGaussian(space,meanState,stdDev)` returns a sample state of the state space based on a Gaussian (normal) distribution with specified mean, `meanState`, and standard deviation, `stdDev`.```

example

````state = sampleGaussian(space,meanState,stdDev,numSamples)` returns a number of state samples. The number is equal to `numSamples`.```

## Examples

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Create an SE(2) state space.

`space = stateSpaceSE2;`

Specify the mean state, standard deviation, and the number of state samples to return.

```meanState = [5 5 pi/3]; stdDev = [0.1 0.1 pi/18]; numSamples = 2;```

Sample states of the state space based on a Gaussian distribution.

`state = sampleGaussian(space,meanState,stdDev,numSamples)`
```state = 2×3 5.0538 5.1834 0.6530 5.0862 5.0319 0.8190 ```

## Input Arguments

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State space object, specified as a `stateSpaceSE2`, a `stateSpaceDubins`, or a `stateSpaceReedsShepp` object.

Data Types: `object`

Mean state of the Gaussian distribution for sampling, specified as a 3-element vector of real values.

Example: `[5 5 pi/3]`

Data Types: `single` | `double`

Standard deviation of the Gaussian distribution for sampling, specified as a 3-element vector of nonnegative values.

Example: `[0.1 0.1 pi/18]`

Data Types: `single` | `double`

Number of samples, specified as a positive integer.

Data Types: `single` | `double`

## Output Arguments

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State samples, returned as an N-by-3 real-valued matrix. N is the number of samples. Each row of the matrix corresponds to one incidence of state in the state space.

Data Types: `single` | `double`

## Version History

Introduced in R2019b