.. _program_listing_file_src_ompl_util_RandomNumbers.h:

Program Listing for File RandomNumbers.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_util_RandomNumbers.h>` (``src/ompl/util/RandomNumbers.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan, Jonathan Gammell */
   
   #ifndef OMPL_UTIL_RANDOM_NUMBERS_
   #define OMPL_UTIL_RANDOM_NUMBERS_
   
   #include <memory>
   #include <random>
   #include <cassert>
   #include <cstdint>
   #include <algorithm>
   
   #include "ompl/util/ProlateHyperspheroid.h"
   
   namespace ompl
   {
       class RNG
       {
       public:
           RNG();
   
           RNG(std::uint_fast32_t localSeed);
   
           double uniform01()
           {
               return uniDist_(generator_);
           }
   
           double uniformReal(double lower_bound, double upper_bound)
           {
               assert(lower_bound <= upper_bound);
               return (upper_bound - lower_bound) * uniDist_(generator_) + lower_bound;
           }
   
           int uniformInt(int lower_bound, int upper_bound)
           {
               auto r = (int)floor(uniformReal((double)lower_bound, (double)(upper_bound) + 1.0));
               return (r > upper_bound) ? upper_bound : r;
           }
   
           bool uniformBool()
           {
               return uniDist_(generator_) <= 0.5;
           }
   
           double gaussian01()
           {
               return normalDist_(generator_);
           }
   
           double gaussian(double mean, double stddev)
           {
               return normalDist_(generator_) * stddev + mean;
           }
   
           double halfNormalReal(double r_min, double r_max, double focus = 3.0);
   
           int halfNormalInt(int r_min, int r_max, double focus = 3.0);
   
           void quaternion(double value[4]);
   
           void eulerRPY(double value[3]);
   
           static void setSeed(std::uint_fast32_t seed);
   
           static std::uint_fast32_t getSeed();
   
           void setLocalSeed(std::uint_fast32_t localSeed);
   
           std::uint_fast32_t getLocalSeed() const
           {
               return localSeed_;
           }
   
           void uniformNormalVector(std::vector<double> &v);
   
           void uniformInBall(double r, std::vector<double> &v);
   
           void uniformProlateHyperspheroidSurface(const std::shared_ptr<const ProlateHyperspheroid> &phsPtr,
                                                   double value[]);
   
           void uniformProlateHyperspheroid(const std::shared_ptr<const ProlateHyperspheroid> &phsPtr, double value[]);
   
           template <class RandomAccessIterator>
           void shuffle(RandomAccessIterator first, RandomAccessIterator last)
           {
               std::shuffle(first, last, generator_);
           }
   
       private:
           class SphericalData;
   
           std::uint_fast32_t localSeed_;
           std::mt19937 generator_;
           std::uniform_real_distribution<> uniDist_{0, 1};
           std::normal_distribution<> normalDist_{0, 1};
           // A structure holding boost::uniform_on_sphere distributions and the associated boost::variate_generators for
           // various dimension
           std::shared_ptr<SphericalData> sphericalDataPtr_;
       };
   }  // namespace ompl
   
   #endif