ompl/util/RandomNumbers.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_UTIL_RANDOM_NUMBERS_
00038 #define OMPL_UTIL_RANDOM_NUMBERS_
00039 
00040 #include <boost/random/mersenne_twister.hpp>
00041 #include <boost/random/uniform_real.hpp>
00042 #include <boost/random/normal_distribution.hpp>
00043 #include <boost/random/variate_generator.hpp>
00044 #include <cassert>
00045 
00046 namespace ompl
00047 {
00054     class RNG
00055     {
00056     public:
00057 
00059         RNG();
00060 
00062         double uniform01()
00063         {
00064             return uni_();
00065         }
00066 
00068         double uniformReal(double lower_bound, double upper_bound)
00069         {
00070             assert(lower_bound <= upper_bound);
00071             return (upper_bound - lower_bound) * uni_() + lower_bound;
00072         }
00073 
00075         int uniformInt(int lower_bound, int upper_bound)
00076         {
00077             int r = (int)floor(uniformReal((double)lower_bound, (double)(upper_bound) + 1.0));
00078             return (r > upper_bound) ? upper_bound : r;
00079         }
00080 
00082         bool uniformBool()
00083         {
00084             return uni_() <= 0.5;
00085         }
00086 
00088         double gaussian01()
00089         {
00090             return normal_();
00091         }
00092 
00094         double gaussian(double mean, double stddev)
00095         {
00096             return normal_() * stddev + mean;
00097         }
00098 
00104         double halfNormalReal(double r_min, double r_max, double focus = 3.0);
00105 
00109         int    halfNormalInt(int r_min, int r_max, double focus = 3.0);
00110 
00112         void   quaternion(double value[4]);
00113 
00115         void   eulerRPY(double value[3]);
00116 
00120         static void setSeed(boost::uint32_t seed);
00121 
00126         static boost::uint32_t getSeed();
00127 
00128     private:
00129 
00130         boost::mt19937                                                           generator_;
00131         boost::uniform_real<>                                                    uniDist_;
00132         boost::normal_distribution<>                                             normalDist_;
00133         boost::variate_generator<boost::mt19937&, boost::uniform_real<> >        uni_;
00134         boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > normal_;
00135 
00136     };
00137 
00138 }
00139 
00140 #endif
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