RandomNumbers.cpp
83 // In this case, since no seeds have been generated yet, so we remember this seed as the first one.
174 using dist_gen_pair_t = std::pair<std::shared_ptr<spherical_dist_t>, std::shared_ptr<variate_generator_t>>;
201 dimVector_.at(dim).second = std::make_shared<variate_generator_t>(generatorPtr_, *dimVector_.at(dim).first);
226 : localSeed_(localSeed), generator_(localSeed_), sphericalDataPtr_(std::make_shared<SphericalData>(&generator_))
279 // From Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning, by James Kuffner, ICRA 2004
289 // Generate a random value, the variate_generator is returning a shallow_array_adaptor, which will modify the value
304 std::transform(v.begin(), v.end(), v.begin(), [radiusScale](double x) { return radiusScale * x; });
307 void ompl::RNG::uniformProlateHyperspheroidSurface(const std::shared_ptr<const ProlateHyperspheroid> &phsPtr,
321 void ompl::RNG::uniformProlateHyperspheroid(const std::shared_ptr<const ProlateHyperspheroid> &phsPtr, double value[])
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 ...
Definition: RandomNumbers.cpp:287
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...
Definition: RandomNumbers.cpp:307
void transform(const double sphere[], double phs[]) const
Transform a point from a sphere to PHS. The return variable phs is expected to already exist.
Definition: ProlateHyperspheroid.cpp:132
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,...
Definition: RandomNumbers.cpp:244
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...
Definition: RandomNumbers.cpp:213
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_...
Definition: RandomNumbers.cpp:257
void quaternion(double value[4])
Uniform random unit quaternion sampling. The computed value has the order (x,y,z,w)....
Definition: RandomNumbers.cpp:265
void uniformInBall(double r, std::vector< double > &v)
Uniform random sampling of the content of an n-ball, with a radius appropriately distributed between ...
Definition: RandomNumbers.cpp:295
static std::uint_fast32_t getSeed()
Get the seed used to generate the seeds of each RNG instance. Passing the returned value to setSeed()...
Definition: RandomNumbers.cpp:208
unsigned int getDimension() const
The state dimension of the PHS.
Definition: ProlateHyperspheroid.cpp:201
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...
Definition: RandomNumbers.cpp:321
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...
Definition: RandomNumbers.cpp:230
void eulerRPY(double value[3])
Uniform random sampling of Euler roll-pitch-yaw angles, each in the range (-pi, pi]....
Definition: RandomNumbers.cpp:280