RandomNumbers.h

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/* Author: Ioan Sucan */

#ifndef OMPL_UTIL_RANDOM_NUMBERS_
#define OMPL_UTIL_RANDOM_NUMBERS_

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

namespace ompl
{
    class RNG
    {
    public:

        RNG(void);

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

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

        int uniformInt(int lower_bound, int upper_bound)
        {
            int r = (int)floor(uniformReal((double)lower_bound, (double)(upper_bound) + 1.0));
            return (r > upper_bound) ? upper_bound : r;
        }

        bool uniformBool(void)
        {
            return uni_() <= 0.5;
        }

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

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

        double halfNormalReal(double r_min, double r_max, double focus = 3.0);

        int    halfNormalInt(int r_min, int r_max, double focus = 3.0);

        void   quaternion(double value[4]);

        static void setSeed(boost::uint32_t seed);

        static boost::uint32_t getSeed(void);

    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_;

    };

}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013