Random number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed. More...

#include <rng.h>

Public Member Functions
void	ball (S r_min, S r_max, S &x, S &y, S &z)
	Uniform random sample in a ball with radius from r_min to r_max. More...

void	disk (S r_min, S r_max, S &x, S &y)
	Uniform random sample on a disk with radius from r_min to r_max. More...

void	eulerRPY (S value[3])
	Uniform random sampling of Euler roll-pitch-yaw angles, each in the range [-pi, pi). The computed value has the order (roll, pitch, yaw) *‍/. More...

S	gaussian (S mean, S stddev)
	Generate a random real using a normal distribution with given mean and variance. More...

S	gaussian01 ()
	Generate a random real using a normal distribution with mean 0 and variance 1. More...

int	halfNormalInt (int r_min, int r_max, S focus=3.0)
	Generate a random integer using a half-normal distribution. The value is within specified bounds ([r_min, r_max]), but with a bias towards r_max. The function is implemented on top of halfNormalReal() More...

S	halfNormalReal (S r_min, S r_max, S focus=3.0)
	Generate a random real using a half-normal distribution. The value is within specified bounds [r_min, r_max], but with a bias towards r_max. The function is implemended using a Gaussian distribution with mean at r_max - r_min. The distribution is 'folded' around r_max axis towards r_min. The variance of the distribution is (r_max - r_min) / focus. The higher the focus, the more probable it is that generated numbers are close to r_max. More...

void	quaternion (S value[4])
	Uniform random unit quaternion sampling. The computed value has the order (x,y,z,w) More...

	RNG ()
	Constructor. Always sets a different random seed. More...

S	uniform01 ()
	Generate a random real between 0 and 1. More...

bool	uniformBool ()
	Generate a random boolean. More...

int	uniformInt (int lower_bound, int upper_bound)
	Generate a random integer within given bounds: [lower_bound, upper_bound]. More...

S	uniformReal (S lower_bound, S upper_bound)
	Generate a random real within given bounds: [lower_bound, upper_bound) More...

Static Public Member Functions
static std::uint_fast32_t	getSeed ()
	Get the seed used for random number generation. Passing the returned value to setSeed() at a subsequent execution of the code will ensure deterministic (repeatable) behaviour. Useful for debugging. More...

static void	setSeed (std::uint_fast32_t seed)
	Set the seed for random number generation. Use this function to ensure the same sequence of random numbers is generated. More...

Private Attributes
std::mt19937	generator_

std::normal_distribution	normalDist_

std::uniform_real_distribution	uniDist_

Detailed Description

template<typename S>
class fcl::RNG< S >

Random number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed.

Definition at line 58 of file rng.h.

Constructor & Destructor Documentation

◆ RNG()

template<typename S >

fcl::RNG< S >::RNG

Constructor. Always sets a different random seed.

Definition at line 52 of file rng-inl.h.

Member Function Documentation

◆ ball()

template<typename S >

void fcl::RNG< S >::ball	(	S	r_min,
		S	r_max,
		S &	x,
		S &	y,
		S &	z
	)

Uniform random sample in a ball with radius from r_min to r_max.

Definition at line 171 of file rng-inl.h.

◆ disk()

template<typename S >

void fcl::RNG< S >::disk	(	S	r_min,
		S	r_max,
		S &	x,
		S &	y
	)

Uniform random sample on a disk with radius from r_min to r_max.

Definition at line 159 of file rng-inl.h.

◆ eulerRPY()

template<typename S >

void fcl::RNG< S >::eulerRPY ( S value[3] )

Uniform random sampling of Euler roll-pitch-yaw angles, each in the range [-pi, pi). The computed value has the order (roll, pitch, yaw) *‍/.

Definition at line 150 of file rng-inl.h.

◆ gaussian()

template<typename S >

S fcl::RNG< S >::gaussian	(	S	mean,
		S	stddev
	)

Generate a random real using a normal distribution with given mean and variance.

Definition at line 98 of file rng-inl.h.

◆ gaussian01()

template<typename S >

S fcl::RNG< S >::gaussian01

Generate a random real using a normal distribution with mean 0 and variance 1.

Definition at line 91 of file rng-inl.h.

◆ getSeed()

template<typename S >

uint_fast32_t fcl::RNG< S >::getSeed

static

Get the seed used for random number generation. Passing the returned value to setSeed() at a subsequent execution of the code will ensure deterministic (repeatable) behaviour. Useful for debugging.

Definition at line 213 of file rng-inl.h.

◆ halfNormalInt()

template<typename S >

int fcl::RNG< S >::halfNormalInt	(	int	r_min,
		int	r_max,
		S	focus = `3.0`
	)

Generate a random integer using a half-normal distribution. The value is within specified bounds ([r_min, r_max]), but with a bias towards r_max. The function is implemented on top of halfNormalReal()

Definition at line 122 of file rng-inl.h.

◆ halfNormalReal()

template<typename S >

S fcl::RNG< S >::halfNormalReal	(	S	r_min,
		S	r_max,
		S	focus = `3.0`
	)

Generate a random real using a half-normal distribution. The value is within specified bounds [r_min, r_max], but with a bias towards r_max. The function is implemended using a Gaussian distribution with mean at r_max - r_min. The distribution is 'folded' around r_max axis towards r_min. The variance of the distribution is (r_max - r_min) / focus. The higher the focus, the more probable it is that generated numbers are close to r_max.

Definition at line 105 of file rng-inl.h.

◆ quaternion()

template<typename S >

void fcl::RNG< S >::quaternion ( S value[4] )

Uniform random unit quaternion sampling. The computed value has the order (x,y,z,w)

Definition at line 132 of file rng-inl.h.

◆ setSeed()

template<typename S >

void fcl::RNG< S >::setSeed ( std::uint_fast32_t seed )

static

Set the seed for random number generation. Use this function to ensure the same sequence of random numbers is generated.

Definition at line 192 of file rng-inl.h.

◆ uniform01()

template<typename S >

S fcl::RNG< S >::uniform01

Generate a random real between 0 and 1.

Definition at line 59 of file rng-inl.h.

◆ uniformBool()

template<typename S >

bool fcl::RNG< S >::uniformBool

Generate a random boolean.

Definition at line 84 of file rng-inl.h.

◆ uniformInt()

template<typename S >

int fcl::RNG< S >::uniformInt	(	int	lower_bound,
		int	upper_bound
	)

Generate a random integer within given bounds: [lower_bound, upper_bound].

Definition at line 75 of file rng-inl.h.

◆ uniformReal()

template<typename S >

S fcl::RNG< S >::uniformReal	(	S	lower_bound,
		S	upper_bound
	)

Generate a random real within given bounds: [lower_bound, upper_bound)

Definition at line 66 of file rng-inl.h.

Member Data Documentation

◆ generator_

template<typename S >

std::mt19937 fcl::RNG< S >::generator_

private

Definition at line 125 of file rng.h.

◆ normalDist_

template<typename S >

std::normal_distribution fcl::RNG< S >::normalDist_

private

Definition at line 127 of file rng.h.

◆ uniDist_

template<typename S >

std::uniform_real_distribution fcl::RNG< S >::uniDist_

private

Definition at line 126 of file rng.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

template<typename S> class fcl::RNG< S >

Constructor & Destructor Documentation

◆ RNG()

Member Function Documentation

◆ ball()

◆ disk()

◆ eulerRPY()

◆ gaussian()

◆ gaussian01()

◆ getSeed()

◆ halfNormalInt()

◆ halfNormalReal()

◆ quaternion()

◆ setSeed()

◆ uniform01()

◆ uniformBool()

◆ uniformInt()

◆ uniformReal()

Member Data Documentation

◆ generator_

◆ normalDist_

◆ uniDist_

template<typename S>
class fcl::RNG< S >