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ompl-devel-0.9.5-1.fc14.i686.rpm

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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">*  &quot;AS IS&quot; 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">#ifndef OMPL_UTIL_RANDOM_NUMBERS_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_UTIL_RANDOM_NUMBERS_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;boost/random/mersenne_twister.hpp&gt;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;boost/random/uniform_real.hpp&gt;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;boost/random/normal_distribution.hpp&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;boost/random/variate_generator.hpp&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;cassert&gt;</span>
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00054"></a><a class="code" href="classompl_1_1RNG.html">00054</a>     <span class="keyword">class </span><a class="code" href="classompl_1_1RNG.html" title="Random number generation. An instance of this class cannot be used by multiple threads at once (membe...">RNG</a>
<a name="l00055"></a>00055     {
<a name="l00056"></a>00056     <span class="keyword">public</span>:
<a name="l00057"></a>00057 
<a name="l00059"></a>00059         <a class="code" href="classompl_1_1RNG.html#ab68b8c575909d7897776e0dee5a64baf" title="Constructor. Always sets a different random seed.">RNG</a>(<span class="keywordtype">void</span>);
<a name="l00060"></a>00060 
<a name="l00062"></a><a class="code" href="classompl_1_1RNG.html#ac49dc7cc9fe4a8d6f73faf7e62df1621">00062</a>         <span class="keywordtype">double</span> <a class="code" href="classompl_1_1RNG.html#ac49dc7cc9fe4a8d6f73faf7e62df1621" title="Generate a random real between 0 and 1.">uniform01</a>(<span class="keywordtype">void</span>)
<a name="l00063"></a>00063         {
<a name="l00064"></a>00064             <span class="keywordflow">return</span> uni_();
<a name="l00065"></a>00065         }
<a name="l00066"></a>00066 
<a name="l00068"></a><a class="code" href="classompl_1_1RNG.html#a691ddf8d21630c69d4ba3f8b1f8c449f">00068</a>         <span class="keywordtype">double</span> <a class="code" href="classompl_1_1RNG.html#a691ddf8d21630c69d4ba3f8b1f8c449f" title="Generate a random real within given bounds: [lower_bound, upper_bound)">uniformReal</a>(<span class="keywordtype">double</span> lower_bound, <span class="keywordtype">double</span> upper_bound)
<a name="l00069"></a>00069         {
<a name="l00070"></a>00070             assert(lower_bound &lt;= upper_bound);
<a name="l00071"></a>00071             <span class="keywordflow">return</span> (upper_bound - lower_bound) * uni_() + lower_bound;
<a name="l00072"></a>00072         }
<a name="l00073"></a>00073 
<a name="l00075"></a><a class="code" href="classompl_1_1RNG.html#ad122fd3309d2a2c72ca1dd665c1a2803">00075</a>         <span class="keywordtype">int</span> <a class="code" href="classompl_1_1RNG.html#ad122fd3309d2a2c72ca1dd665c1a2803" title="Generate a random integer within given bounds: [lower_bound, upper_bound].">uniformInt</a>(<span class="keywordtype">int</span> lower_bound, <span class="keywordtype">int</span> upper_bound)
<a name="l00076"></a>00076         {
<a name="l00077"></a>00077             <span class="keywordtype">int</span> r = (int)floor(<a class="code" href="classompl_1_1RNG.html#a691ddf8d21630c69d4ba3f8b1f8c449f" title="Generate a random real within given bounds: [lower_bound, upper_bound)">uniformReal</a>((<span class="keywordtype">double</span>)lower_bound, (<span class="keywordtype">double</span>)(upper_bound) + 1.0));
<a name="l00078"></a>00078             <span class="keywordflow">return</span> (r &gt; upper_bound) ? upper_bound : r;
<a name="l00079"></a>00079         }
<a name="l00080"></a>00080 
<a name="l00082"></a><a class="code" href="classompl_1_1RNG.html#aab00f391bc2f829da69dbd4e226b0dbf">00082</a>         <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1RNG.html#aab00f391bc2f829da69dbd4e226b0dbf" title="Generate a random boolean.">uniformBool</a>(<span class="keywordtype">void</span>)
<a name="l00083"></a>00083         {
<a name="l00084"></a>00084             <span class="keywordflow">return</span> uni_() &lt;= 0.5;
<a name="l00085"></a>00085         }
<a name="l00086"></a>00086 
<a name="l00088"></a><a class="code" href="classompl_1_1RNG.html#ab3285a1511e1878ba898dd6adca1a61f">00088</a>         <span class="keywordtype">double</span> <a class="code" href="classompl_1_1RNG.html#ab3285a1511e1878ba898dd6adca1a61f" title="Generate a random real using a normal distribution with mean 0 and variance 1.">gaussian01</a>(<span class="keywordtype">void</span>)
<a name="l00089"></a>00089         {
<a name="l00090"></a>00090             <span class="keywordflow">return</span> normal_();
<a name="l00091"></a>00091         }
<a name="l00092"></a>00092 
<a name="l00094"></a><a class="code" href="classompl_1_1RNG.html#a13631925b09cc5bc7d977240bf67cfd3">00094</a>         <span class="keywordtype">double</span> <a class="code" href="classompl_1_1RNG.html#a13631925b09cc5bc7d977240bf67cfd3" title="Generate a random real using a normal distribution with given mean and variance.">gaussian</a>(<span class="keywordtype">double</span> mean, <span class="keywordtype">double</span> stddev)
<a name="l00095"></a>00095         {
<a name="l00096"></a>00096             <span class="keywordflow">return</span> normal_() * stddev + mean;
<a name="l00097"></a>00097         }
<a name="l00098"></a>00098 
<a name="l00104"></a>00104         <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...">halfNormalReal</a>(<span class="keywordtype">double</span> r_min, <span class="keywordtype">double</span> r_max, <span class="keywordtype">double</span> focus = 3.0);
<a name="l00105"></a>00105 
<a name="l00109"></a>00109         <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_...">halfNormalInt</a>(<span class="keywordtype">int</span> r_min, <span class="keywordtype">int</span> r_max, <span class="keywordtype">double</span> focus = 3.0);
<a name="l00110"></a>00110 
<a name="l00112"></a>00112         <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)">quaternion</a>(<span class="keywordtype">double</span> value[4]);
<a name="l00113"></a>00113 
<a name="l00117"></a>00117         <span class="keyword">static</span> <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...">setSeed</a>(boost::uint32_t seed);
<a name="l00118"></a>00118 
<a name="l00123"></a>00123         <span class="keyword">static</span> 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...">getSeed</a>(<span class="keywordtype">void</span>);
<a name="l00124"></a>00124 
<a name="l00125"></a>00125     <span class="keyword">private</span>:
<a name="l00126"></a>00126 
<a name="l00127"></a>00127         boost::mt19937                                                           generator_;
<a name="l00128"></a>00128         boost::uniform_real&lt;&gt;                                                    uniDist_;
<a name="l00129"></a>00129         boost::normal_distribution&lt;&gt;                                             normalDist_;
<a name="l00130"></a>00130         boost::variate_generator&lt;boost::mt19937&amp;, boost::uniform_real&lt;&gt; &gt;        uni_;
<a name="l00131"></a>00131         boost::variate_generator&lt;boost::mt19937&amp;, boost::normal_distribution&lt;&gt; &gt; normal_;
<a name="l00132"></a>00132 
<a name="l00133"></a>00133     };
<a name="l00134"></a>00134 
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136 
<a name="l00137"></a>00137 <span class="preprocessor">#endif</span>
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