random.h

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#ifndef PCL_COMMON_RANDOM_H_
#define PCL_COMMON_RANDOM_H_

#ifdef __GNUC__
#pragma GCC system_header 
#endif

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

namespace pcl 
{
  namespace common 
  {
    template <typename T> struct uniform_distribution;
    template<> 
    struct uniform_distribution<int> 
    {
      typedef boost::uniform_int<int> type;
    };
    template<> 
    struct uniform_distribution<float> 
    {
      typedef boost::uniform_real<float> type;
    };
    template<typename T> 
    struct normal_distribution
    {
      typedef boost::normal_distribution<T> type;
    };

    template<typename T>
    class UniformGenerator 
    {
      public:
        struct Parameters
        {
            Parameters (T _min = 0, T _max = 1, pcl::uint32_t _seed = 1)
            : min (_min)
            , max (_max)
            , seed (_seed)
          {}

          T min;
          T max;
          pcl::uint32_t seed;
        };

        UniformGenerator(T min = 0, T max = 1, pcl::uint32_t seed = -1);

        UniformGenerator(const Parameters& paramters);

        void 
        setSeed (pcl::uint32_t seed);

        void 
        setParameters (T min, T max, pcl::uint32_t seed = -1);

        void
        setParameters (const Parameters& parameters);

        const Parameters&
        getParameters () { return (parameters_); }

        inline T 
        run () { return (generator_ ()); }

      private:
        typedef boost::mt19937 EngineType;
        typedef typename uniform_distribution<T>::type DistributionType;
        Parameters parameters_;
        DistributionType distribution_;
        EngineType rng_;
        boost::variate_generator<EngineType&, DistributionType> generator_;
    };

    template<typename T>
    class NormalGenerator 
    {
      public:
        struct Parameters
        {
            Parameters (T _mean = 0, T _sigma = 1, pcl::uint32_t _seed = 1)
            : mean (_mean)
            , sigma (_sigma)
            , seed (_seed)
          {}

          T mean;
          T sigma;
          pcl::uint32_t seed;
        };

        NormalGenerator(T mean = 0, T sigma = 1, pcl::uint32_t seed = -1);

        NormalGenerator(const Parameters& parameters);

        void 
        setSeed (pcl::uint32_t seed);

        void 
        setParameters (T mean, T sigma, pcl::uint32_t seed = -1);

        void
        setParameters (const Parameters& parameters);

        const Parameters&
        getParameters () { return (parameters_); }

        inline T 
        run () { return (generator_ ()); }

        typedef boost::mt19937 EngineType;
        typedef typename normal_distribution<T>::type DistributionType;
        Parameters parameters_;
        DistributionType distribution_;
        EngineType rng_;
        boost::variate_generator<EngineType&, DistributionType > generator_;
    };
  }
}

#include <pcl/common/impl/random.hpp>

#endif