Program Listing for File random_numbers.h

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// Copyright 2008 Willow Garage, Inc.
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/* Author: Ioan Sucan */

#ifndef RANDOM_NUMBERS_RANDOM_NUMBERS_
#define RANDOM_NUMBERS_RANDOM_NUMBERS_

#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/uniform_int.hpp>
#include <boost/random/variate_generator.hpp>
#include <boost/random/normal_distribution.hpp>

namespace random_numbers
{
class RandomNumberGenerator
{
public:
  RandomNumberGenerator(void);

  RandomNumberGenerator(boost::uint32_t seed);

  double uniform01(void)
  {
    return uni_();
  }

  double uniformReal(double lower_bound, double upper_bound)
  {
    return (upper_bound - lower_bound) * uni_() + lower_bound;
  }

  double gaussian01(void)
  {
    return normal_();
  }

  double gaussian(double mean, double stddev)
  {
    return normal_() * stddev + mean;
  }

  void quaternion(double value[4]);

  int uniformInteger(int min, int max)
  {
    boost::uniform_int<> dis(min, max);
    return dis(generator_);
  }

  boost::uint32_t getFirstSeed();

private:
  boost::mt19937 generator_;
  boost::uniform_real<> uniDist_;
  boost::normal_distribution<> normalDist_;
  boost::variate_generator<boost::mt19937&, boost::uniform_real<> > uni_;
  boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > normal_;
};
}  // namespace random_numbers

#endif