RandomNumbers.h
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34 
35 /* Author: Ioan Sucan, Jonathan Gammell */
36 
37 #ifndef OMPL_UTIL_RANDOM_NUMBERS_
38 #define OMPL_UTIL_RANDOM_NUMBERS_
39 
40 #include <memory>
41 #include <random>
42 #include <cassert>
43 #include <cstdint>
44 #include <algorithm>
45 
46 #include "ompl/config.h"
47 #include "ompl/util/ProlateHyperspheroid.h"
48 
49 namespace ompl
50 {
57  class RNG
58  {
59  public:
61  RNG();
62 
64  RNG(std::uint_fast32_t localSeed);
65 
67  double uniform01()
68  {
69  return uniDist_(generator_);
70  }
71 
73  double uniformReal(double lower_bound, double upper_bound)
74  {
75  assert(lower_bound <= upper_bound);
76  return (upper_bound - lower_bound) * uniDist_(generator_) + lower_bound;
77  }
78 
80  int uniformInt(int lower_bound, int upper_bound)
81  {
82  auto r = (int)floor(uniformReal((double)lower_bound, (double)(upper_bound) + 1.0));
83  return (r > upper_bound) ? upper_bound : r;
84  }
85 
87  bool uniformBool()
88  {
89  return uniDist_(generator_) <= 0.5;
90  }
91 
93  double gaussian01()
94  {
95  return normalDist_(generator_);
96  }
97 
99  double gaussian(double mean, double stddev)
100  {
101  return normalDist_(generator_) * stddev + mean;
102  }
103 
110  double halfNormalReal(double r_min, double r_max, double focus = 3.0);
111 
115  int halfNormalInt(int r_min, int r_max, double focus = 3.0);
116 
119  void quaternion(double value[4]);
120 
123  void eulerRPY(double value[3]);
124 
127  static void setSeed(std::uint_fast32_t seed);
128 
132  static std::uint_fast32_t getSeed();
133 
136  void setLocalSeed(std::uint_fast32_t localSeed);
137 
142  std::uint_fast32_t getLocalSeed() const
143  {
144  return localSeed_;
145  }
146 
149  void uniformNormalVector(std::vector<double> &v);
150 
154  void uniformInBall(double r, std::vector<double> &v);
155 
164  void uniformProlateHyperspheroidSurface(const std::shared_ptr<const ProlateHyperspheroid> &phsPtr,
165  double value[]);
166 
175  void uniformProlateHyperspheroid(const std::shared_ptr<const ProlateHyperspheroid> &phsPtr, double value[]);
176 
178  template <class RandomAccessIterator>
179  void shuffle(RandomAccessIterator first, RandomAccessIterator last)
180  {
181  std::shuffle(first, last, generator_);
182  }
183 
184  private:
187  class SphericalData;
188 
190  std::uint_fast32_t localSeed_;
191  std::mt19937 generator_;
192  std::uniform_real_distribution<> uniDist_{0, 1};
193  std::normal_distribution<> normalDist_{0, 1};
194  // A structure holding boost::uniform_on_sphere distributions and the associated boost::variate_generators for
195  // various dimension
196  std::shared_ptr<SphericalData> sphericalDataPtr_;
197  };
198 } // namespace ompl
199 
200 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
void quaternion(double value[4])
Uniform random unit quaternion sampling. The computed value has the order (x,y,z,w)....
double gaussian(double mean, double stddev)
Generate a random real using a normal distribution with given mean and variance.
Definition: RandomNumbers.h:99
int halfNormalInt(int r_min, int r_max, double focus=3.0)
Generate a random integer using a half-normal distribution. The value is within specified bounds ([r_...
void eulerRPY(double value[3])
Uniform random sampling of Euler roll-pitch-yaw angles, each in the range (-pi, pi]....
void setLocalSeed(std::uint_fast32_t localSeed)
Set the seed used for the instance of a RNG. Use this function to ensure that an instance of an RNG g...
static void setSeed(std::uint_fast32_t seed)
Set the seed used to generate the seeds of each RNG instance. Use this function to ensure the same se...
void uniformNormalVector(std::vector< double > &v)
Uniform random sampling of a unit-length vector. I.e., the surface of an n-ball. The return variable ...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:73
void shuffle(RandomAccessIterator first, RandomAccessIterator last)
randomly rearrange elements in the range [first, last)
void uniformInBall(double r, std::vector< double > &v)
Uniform random sampling of the content of an n-ball, with a radius appropriately distributed between ...
double gaussian01()
Generate a random real using a normal distribution with mean 0 and variance 1.
Definition: RandomNumbers.h:93
void uniformProlateHyperspheroid(const std::shared_ptr< const ProlateHyperspheroid > &phsPtr, double value[])
Uniform random sampling of a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse...
RNG()
Constructor. Always sets a different random seed.
static std::uint_fast32_t getSeed()
Get the seed used to generate the seeds of each RNG instance. Passing the returned value to setSeed()...
double halfNormalReal(double r_min, double r_max, double focus=3.0)
Generate a random real using a half-normal distribution. The value is within specified bounds [r_min,...
void uniformProlateHyperspheroidSurface(const std::shared_ptr< const ProlateHyperspheroid > &phsPtr, double value[])
Uniform random sampling of the surface of a prolate hyperspheroid, a special symmetric type of n-dime...
bool uniformBool()
Generate a random boolean.
Definition: RandomNumbers.h:87
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:80
double uniform01()
Generate a random real between 0 and 1.
Definition: RandomNumbers.h:67
std::uint_fast32_t getLocalSeed() const
Get the seed used for the instance of a RNG. Passing the returned value to the setInstanceSeed() of a...
Main namespace. Contains everything in this library.
Definition: AppBase.h:22