rng.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef FCL_MATH_RNG_H
#define FCL_MATH_RNG_H

#include <cassert>
#include <random>
#include <iostream>

#include "fcl/math/constants.h"
#include "fcl/math/detail/seed.h"

namespace fcl
{

template <typename S>
class RNG
{
public:
  RNG();

  S uniform01();

  S uniformReal(S lower_bound, S upper_bound);

  int uniformInt(int lower_bound, int upper_bound);

  bool uniformBool();

  S gaussian01();

  S gaussian(S mean, S stddev);

  S halfNormalReal(S r_min, S r_max, S focus = 3.0);

  int halfNormalInt(int r_min, int r_max, S focus = 3.0);

  void quaternion(S value[4]);

  void eulerRPY(S value[3]);

  void disk(S r_min, S r_max, S& x, S& y);

  void ball(S r_min, S r_max, S& x, S& y, S& z);

  static void setSeed(std::uint_fast32_t seed);

  static std::uint_fast32_t getSeed();

private:

  std::mt19937                     generator_;
  std::uniform_real_distribution<> uniDist_;
  std::normal_distribution<>       normalDist_;

};

using RNGf = RNG<float>;
using RNGd = RNG<double>;

} // namespace fcl

#include "fcl/math/rng-inl.h"

#endif