random_numbers.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "random_numbers/random_numbers.h"
00038 
00039 #include <boost/random/lagged_fibonacci.hpp>
00040 #include <boost/random/uniform_int.hpp>
00041 #include <boost/thread/mutex.hpp>
00042 #include <boost/date_time/posix_time/posix_time.hpp>
00043 #include <boost/math/constants/constants.hpp>
00044 #include <boost/scoped_ptr.hpp>
00045 
00046 static boost::uint32_t first_seed_ = 0;
00047 
00049 static boost::uint32_t firstSeed(void)
00050 {
00051   boost::scoped_ptr<int> mem(new int());
00052   first_seed_ = (boost::uint32_t)((boost::posix_time::microsec_clock::universal_time() -
00053                             boost::posix_time::ptime(boost::date_time::min_date_time)).total_microseconds() +
00054                            (unsigned long long)(mem.get()));
00055   return first_seed_;
00056 }
00057 
00061 static boost::uint32_t nextSeed(void)
00062 {
00063   static boost::mutex rngMutex;
00064   boost::mutex::scoped_lock slock(rngMutex);
00065   static boost::lagged_fibonacci607 sGen(firstSeed());
00066   static boost::uniform_int<>       sDist(1, 1000000000);
00067   static boost::variate_generator<boost::lagged_fibonacci607&, boost::uniform_int<> > s(sGen, sDist);
00068   boost::uint32_t v = s();
00069   return v;
00070 }
00071 
00072 
00073 random_numbers::RandomNumberGenerator::RandomNumberGenerator(void) : generator_(nextSeed()),
00074                                                                      uniDist_(0, 1),  
00075                                                                      normalDist_(0, 1),
00076                                                                      uni_(generator_, uniDist_),
00077                                                                      normal_(generator_, normalDist_)
00078 {
00079 }
00080 
00081 random_numbers::RandomNumberGenerator::RandomNumberGenerator(boost::uint32_t seed)
00082                                                                    : generator_(seed),
00083                                                                      uniDist_(0, 1),
00084                                                                      normalDist_(0, 1),
00085                                                                      uni_(generator_, uniDist_),
00086                                                                      normal_(generator_, normalDist_)
00087 {
00088   // Because we manually specified a seed, we need to save it ourselves
00089   first_seed_ = seed;
00090 }
00091 
00092 // From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III,
00093 //       pg. 124-132
00094 void random_numbers::RandomNumberGenerator::quaternion(double value[4])
00095 {
00096   double x0 = uni_();
00097   double r1 = sqrt(1.0 - x0), r2 = sqrt(x0);
00098   double t1 = 2.0 * boost::math::constants::pi<double>() * uni_(), t2 = 2.0 * boost::math::constants::pi<double>() * uni_();
00099   double c1 = cos(t1), s1 = sin(t1);
00100   double c2 = cos(t2), s2 = sin(t2);
00101   value[0] = s1 * r1;
00102   value[1] = c1 * r1;
00103   value[2] = s2 * r2;
00104   value[3] = c2 * r2;
00105 }
00106 
00107 boost::uint32_t random_numbers::RandomNumberGenerator::getFirstSeed()
00108 {
00109   return first_seed_;
00110 }


random_numbers
Author(s): Ioan Sucan
autogenerated on Mon Apr 3 2017 04:04:44