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<div class="title">RandomNumbers.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/util/RandomNumbers.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <boost/random/lagged_fibonacci.hpp></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <boost/random/uniform_int.hpp></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <boost/thread/mutex.hpp></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <boost/date_time/posix_time/posix_time.hpp></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <boost/math/constants/constants.hpp></span>
<a name="l00045"></a>00045
<a name="l00047"></a>00047 <span class="keyword">static</span> boost::uint32_t userSetSeed = 0;
<a name="l00048"></a>00048
<a name="l00050"></a>00050 <span class="keyword">static</span> <span class="keywordtype">bool</span> firstSeedGenerated = <span class="keyword">false</span>;
<a name="l00051"></a>00051
<a name="l00053"></a>00053 <span class="keyword">static</span> boost::uint32_t firstSeedValue = 0;
<a name="l00054"></a>00054
<a name="l00056"></a>00056 <span class="keyword">static</span> boost::uint32_t firstSeed(<span class="keywordtype">void</span>)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">static</span> boost::mutex fsLock;
<a name="l00059"></a>00059 boost::mutex::scoped_lock slock(fsLock);
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keywordflow">if</span> (firstSeedGenerated)
<a name="l00062"></a>00062 <span class="keywordflow">return</span> firstSeedValue;
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keywordflow">if</span> (userSetSeed != 0)
<a name="l00065"></a>00065 firstSeedValue = userSetSeed;
<a name="l00066"></a>00066 <span class="keywordflow">else</span>
<a name="l00067"></a>00067 firstSeedValue =
<a name="l00068"></a>00068 (boost::uint32_t)(boost::posix_time::microsec_clock::universal_time() -
<a name="l00069"></a>00069 boost::posix_time::ptime(boost::date_time::min_date_time)).total_microseconds();
<a name="l00070"></a>00070 firstSeedGenerated = <span class="keyword">true</span>;
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keywordflow">return</span> firstSeedValue;
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00078"></a>00078 <span class="keyword">static</span> boost::uint32_t nextSeed(<span class="keywordtype">void</span>)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <span class="keyword">static</span> boost::mutex rngMutex;
<a name="l00081"></a>00081 rngMutex.lock();
<a name="l00082"></a>00082 <span class="keyword">static</span> boost::lagged_fibonacci607 sGen(firstSeed());
<a name="l00083"></a>00083 <span class="keyword">static</span> boost::uniform_int<> sDist(1, 1000000000);
<a name="l00084"></a>00084 <span class="keyword">static</span> boost::variate_generator<boost::lagged_fibonacci607&, boost::uniform_int<> > s(sGen, sDist);
<a name="l00085"></a>00085 boost::uint32_t v = s();
<a name="l00086"></a>00086 rngMutex.unlock();
<a name="l00087"></a>00087 <span class="keywordflow">return</span> v;
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classompl_1_1RNG.html#a6609dc30a714e43d5f96673c30c30872">00090</a> boost::uint32_t <a class="code" href="classompl_1_1RNG.html#a6609dc30a714e43d5f96673c30c30872" title="Get the seed used for random number generation. Passing the returned value to setSeed() at a subseque...">ompl::RNG::getSeed</a>(<span class="keywordtype">void</span>)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 <span class="keywordflow">return</span> firstSeed();
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00095"></a><a class="code" href="classompl_1_1RNG.html#a0d1f331229e9c85121ac9af72550fc99">00095</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1RNG.html#a0d1f331229e9c85121ac9af72550fc99" title="Set the seed for random number generation. Use this function to ensure the same sequence of random nu...">ompl::RNG::setSeed</a>(boost::uint32_t seed)
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 <span class="keywordflow">if</span> (firstSeedGenerated)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a> msg;
<a name="l00100"></a>00100 msg.<a class="code" href="classompl_1_1msg_1_1Interface.html#ab9c7d9a3fd8a6358e6d8e27c73a52575" title="Forward an error.">error</a>(<span class="stringliteral">"Random number generation already started. Changing seed now will not lead to deterministic sampling."</span>);
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102 <span class="keywordflow">if</span> (seed == 0)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a> msg;
<a name="l00105"></a>00105 msg.<a class="code" href="classompl_1_1msg_1_1Interface.html#a15876ea668c0bf423cc416d96526fa18" title="Forward a warning.">warn</a>(<span class="stringliteral">"Random generator seed cannot be 0. Using 1 instead."</span>);
<a name="l00106"></a>00106 userSetSeed = 1;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 <span class="keywordflow">else</span>
<a name="l00109"></a>00109 userSetSeed = seed;
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111
<a name="l00112"></a><a class="code" href="classompl_1_1RNG.html#ab68b8c575909d7897776e0dee5a64baf">00112</a> <a class="code" href="classompl_1_1RNG.html#ab68b8c575909d7897776e0dee5a64baf" title="Constructor. Always sets a different random seed.">ompl::RNG::RNG</a>(<span class="keywordtype">void</span>) : generator_(nextSeed()),
<a name="l00113"></a>00113 uniDist_(0, 1),
<a name="l00114"></a>00114 normalDist_(0, 1),
<a name="l00115"></a>00115 uni_(generator_, uniDist_),
<a name="l00116"></a>00116 normal_(generator_, normalDist_)
<a name="l00117"></a>00117 {
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119
<a name="l00120"></a><a class="code" href="classompl_1_1RNG.html#aa042546370a4144a4250ee30052496d5">00120</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1RNG.html#aa042546370a4144a4250ee30052496d5" title="Generate a random real using a half-normal distribution. The value is within specified bounds [r_min...">ompl::RNG::halfNormalReal</a>(<span class="keywordtype">double</span> r_min, <span class="keywordtype">double</span> r_max, <span class="keywordtype">double</span> focus)
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 assert(r_min <= r_max);
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="keyword">const</span> <span class="keywordtype">double</span> mean = r_max - r_min;
<a name="l00125"></a>00125 <span class="keywordtype">double</span> v = gaussian(mean, mean/focus);
<a name="l00126"></a>00126
<a name="l00127"></a>00127 <span class="keywordflow">if</span> (v > mean) v = 2.0 * mean - v;
<a name="l00128"></a>00128 <span class="keywordtype">double</span> r = v >= 0.0 ? v + r_min : r_min;
<a name="l00129"></a>00129 <span class="keywordflow">return</span> r > r_max ? r_max : r;
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00132"></a><a class="code" href="classompl_1_1RNG.html#a26c0a9c26d9a34e2f6004536dc92bf1d">00132</a> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1RNG.html#a26c0a9c26d9a34e2f6004536dc92bf1d" title="Generate a random integer using a half-normal distribution. The value is within specified bounds ([r_...">ompl::RNG::halfNormalInt</a>(<span class="keywordtype">int</span> r_min, <span class="keywordtype">int</span> r_max, <span class="keywordtype">double</span> focus)
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134 <span class="keywordtype">int</span> r = (int)floor(halfNormalReal((<span class="keywordtype">double</span>)r_min, (<span class="keywordtype">double</span>)(r_max) + 1.0, focus));
<a name="l00135"></a>00135 <span class="keywordflow">return</span> (r > r_max) ? r_max : r;
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="comment">// From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III,</span>
<a name="l00139"></a>00139 <span class="comment">// pg. 124-132</span>
<a name="l00140"></a><a class="code" href="classompl_1_1RNG.html#a082bc8ed509e999acea09880447a7955">00140</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1RNG.html#a082bc8ed509e999acea09880447a7955" title="Uniform random unit quaternion sampling. The returned value has the order (x,y,z,w)">ompl::RNG::quaternion</a>(<span class="keywordtype">double</span> value[4])
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 <span class="keywordtype">double</span> x0 = uni_();
<a name="l00143"></a>00143 <span class="keywordtype">double</span> r1 = sqrt(1.0 - x0), r2 = sqrt(x0);
<a name="l00144"></a>00144 <span class="keywordtype">double</span> t1 = 2.0 * boost::math::constants::pi<double>() * uni_(), t2 = 2.0 * boost::math::constants::pi<double>() * uni_();
<a name="l00145"></a>00145 <span class="keywordtype">double</span> c1 = cos(t1), s1 = sin(t1);
<a name="l00146"></a>00146 <span class="keywordtype">double</span> c2 = cos(t2), s2 = sin(t2);
<a name="l00147"></a>00147 value[0] = s1 * r1;
<a name="l00148"></a>00148 value[1] = c1 * r1;
<a name="l00149"></a>00149 value[2] = s2 * r2;
<a name="l00150"></a>00150 value[3] = c2 * r2;
<a name="l00151"></a>00151 }
</pre></div></div>
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