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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<div class="title">mrpt::random Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__base__grp.html">[mrpt-base]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A namespace of pseudo-random numbers genrators of diferent distributions. </p>
<p>The central class in this namespace is <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html" title="A thred-safe pseudo random number generator, based on an internal MT19937 randomness generator...">mrpt::random::CRandomGenerator</a> </p>
</div><table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html">CRandomGenerator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A thred-safe pseudo random number generator, based on an internal MT19937 randomness generator. <a href="classmrpt_1_1random_1_1_c_random_generator.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">ptrdiff_t </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a4b8c2d5323417f5760fb2ed586b07d0c">random_generator_for_STL</a> (ptrdiff_t i)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A random number generator for usage in STL algorithms expecting a function like this (eg, random_shuffle): <a href="#a4b8c2d5323417f5760fb2ed586b07d0c"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#ad7c4e3d36decc3132685f45933086b3a">matrixRandomUni</a> (MAT &matrix, const double unif_min=0, const double unif_max=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills the given matrix with independent, uniformly distributed samples. <a href="#ad7c4e3d36decc3132685f45933086b3a"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a62e82d56289ffa599233d5cd504699c3">vectorRandomUni</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &v_out, const T &unif_min=0, const T &unif_max=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills the given matrix with independent, uniformly distributed samples. <a href="#a62e82d56289ffa599233d5cd504699c3"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a6d3e634a522443866723c1a5585a35f1">matrixRandomNormal</a> (MAT &matrix, const double mean=0, const double std=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills the given matrix with independent, normally distributed samples. <a href="#a6d3e634a522443866723c1a5585a35f1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a60f07d06c183298a085dec3534c50338">vectorRandomNormal</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &v_out, const T &mean=0, const T &std=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a random vector with independent, normally distributed samples. <a href="#a60f07d06c183298a085dec3534c50338"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a596e1d3fa80d38575ae5b4e97da13094">Randomize</a> (const uint32_t seed)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Randomize the generators. <a href="#a596e1d3fa80d38575ae5b4e97da13094"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a1e4696dacdce6473e9b5439de94dc97f">Randomize</a> ()</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#ae505099440683685a98a33761d8b1527">randomPermutation</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &in_vector, <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &out_result)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a random permutation of a vector: all the elements of the input vector are in the output but at random positions. <a href="#ae505099440683685a98a33761d8b1527"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#afb45a0dc6818892974defd932c504028">randomNormalMultiDimensional</a> (const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< T > &cov, <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &out_result)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate multidimensional random samples according to a given covariance matrix. <a href="#afb45a0dc6818892974defd932c504028"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a5b1d5e7ef7ee69828efa52b408648608">randomNormalMultiDimensionalMany</a> (const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< T > &cov, size_t desiredSamples, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > > &ret, <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > *samplesLikelihoods=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate a given number of multidimensional random samples according to a given covariance matrix. <a href="#a5b1d5e7ef7ee69828efa52b408648608"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t N> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a7b1e3e134cd17409849dd7fb62aee489">randomNormalMultiDimensionalMany</a> (const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< T, N, N > &cov, size_t desiredSamples, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > > &ret)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate multidimensional random samples according to a given covariance matrix. <a href="#a7b1e3e134cd17409849dd7fb62aee489"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t N> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#ae07f23edde6d47ab9c2dba434e4b1d33">randomNormalMultiDimensional</a> (const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< T, N, N > &cov, <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &out_result)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate multidimensional random samples according to a given covariance matrix. <a href="#ae07f23edde6d47ab9c2dba434e4b1d33"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">BASE_IMPEXP <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html">CRandomGenerator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A static instance of a <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html" title="A thred-safe pseudo random number generator, based on an internal MT19937 randomness generator...">CRandomGenerator</a> class, for use in single-thread applications. <a href="#a4743bfa8fcb282b6f5d66395ccabaa73"></a><br/></td></tr>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a6d3e634a522443866723c1a5585a35f1"></a><!-- doxytag: member="mrpt::random::matrixRandomNormal" ref="a6d3e634a522443866723c1a5585a35f1" args="(MAT &matrix, const double mean=0, const double std=1)" -->
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template<class MAT > </div>
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<td class="memname">void mrpt::random::matrixRandomNormal </td>
<td>(</td>
<td class="paramtype">MAT & </td>
<td class="paramname"><em>matrix</em>, </td>
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<td class="paramtype">const double </td>
<td class="paramname"><em>mean</em> = <code>0</code>, </td>
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<td class="paramtype">const double </td>
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<p>Fills the given matrix with independent, normally distributed samples. </p>
<p>Matrix classes can be CMatrixTemplateNumeric or CMatrixFixedNumeric </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#ad7c4e3d36decc3132685f45933086b3a" title="Fills the given matrix with independent, uniformly distributed samples.">matrixRandomUni</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00346">346</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00373">mean()</a>, <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#a174c76f98b4213166fb87b577fdf2aaa">mrpt::random::CRandomGenerator::drawGaussian1D_normalized()</a>.</p>
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<a class="anchor" id="ad7c4e3d36decc3132685f45933086b3a"></a><!-- doxytag: member="mrpt::random::matrixRandomUni" ref="ad7c4e3d36decc3132685f45933086b3a" args="(MAT &matrix, const double unif_min=0, const double unif_max=1)" -->
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template<class MAT > </div>
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<td class="memname">void mrpt::random::matrixRandomUni </td>
<td>(</td>
<td class="paramtype">MAT & </td>
<td class="paramname"><em>matrix</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const double </td>
<td class="paramname"><em>unif_min</em> = <code>0</code>, </td>
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<td class="paramtype">const double </td>
<td class="paramname"><em>unif_max</em> = <code>1</code> </td>
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<td>)</td>
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<p>Fills the given matrix with independent, uniformly distributed samples. </p>
<p>Matrix classes can be CMatrixTemplateNumeric or CMatrixFixedNumeric </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#a6d3e634a522443866723c1a5585a35f1" title="Fills the given matrix with independent, normally distributed samples.">matrixRandomNormal</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00317">317</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="_random_generators_8h_source.html#l00093">mrpt::random::CRandomGenerator::drawUniform()</a>.</p>
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<a class="anchor" id="a4b8c2d5323417f5760fb2ed586b07d0c"></a><!-- doxytag: member="mrpt::random::random_generator_for_STL" ref="a4b8c2d5323417f5760fb2ed586b07d0c" args="(ptrdiff_t i)" -->
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<td class="memname">ptrdiff_t mrpt::random::random_generator_for_STL </td>
<td>(</td>
<td class="paramtype">ptrdiff_t </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>A random number generator for usage in STL algorithms expecting a function like this (eg, random_shuffle): </p>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00307">307</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#aede40e77053b8b4350fd786f1683e260">mrpt::random::CRandomGenerator::drawUniform32bit()</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>.</p>
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<a class="anchor" id="a596e1d3fa80d38575ae5b4e97da13094"></a><!-- doxytag: member="mrpt::random::Randomize" ref="a596e1d3fa80d38575ae5b4e97da13094" args="(const uint32_t seed)" -->
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<td class="memname">void mrpt::random::Randomize </td>
<td>(</td>
<td class="paramtype">const uint32_t </td>
<td class="paramname"><em>seed</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Randomize the generators. </p>
<p>A seed can be providen, or a current-time based seed can be used (default) </p>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00373">373</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#a231ef5bd9387714debad4914e5da6985">mrpt::random::CRandomGenerator::randomize()</a>.</p>
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<a class="anchor" id="a1e4696dacdce6473e9b5439de94dc97f"></a><!-- doxytag: member="mrpt::random::Randomize" ref="a1e4696dacdce6473e9b5439de94dc97f" args="()" -->
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<td class="memname">void mrpt::random::Randomize </td>
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<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00376">376</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#a231ef5bd9387714debad4914e5da6985">mrpt::random::CRandomGenerator::randomize()</a>.</p>
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<a class="anchor" id="afb45a0dc6818892974defd932c504028"></a><!-- doxytag: member="mrpt::random::randomNormalMultiDimensional" ref="afb45a0dc6818892974defd932c504028" args="(const CMatrixTemplateNumeric< T > &cov, std::vector< T > &out_result)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< T > & </td>
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<p>Generate multidimensional random samples according to a given covariance matrix. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid covariance matrix </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#a5b1d5e7ef7ee69828efa52b408648608" title="Generate a given number of multidimensional random samples according to a given covariance matrix...">randomNormalMultiDimensionalMany</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00396">396</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#a7e74a5bba69f5a49b40ed38f32499c9d">mrpt::random::CRandomGenerator::drawGaussianMultivariate()</a>.</p>
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<a class="anchor" id="ae07f23edde6d47ab9c2dba434e4b1d33"></a><!-- doxytag: member="mrpt::random::randomNormalMultiDimensional" ref="ae07f23edde6d47ab9c2dba434e4b1d33" args="(const CMatrixFixedNumeric< T, N, N > &cov, std::vector< T > &out_result)" -->
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<td class="memname">void mrpt::random::randomNormalMultiDimensional </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< T, N, N > & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > & </td>
<td class="paramname"><em>out_result</em> </td>
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<p>Generate multidimensional random samples according to a given covariance matrix. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid covariance matrix </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#a5b1d5e7ef7ee69828efa52b408648608" title="Generate a given number of multidimensional random samples according to a given covariance matrix...">randomNormalMultiDimensionalMany</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00441">441</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#a7e74a5bba69f5a49b40ed38f32499c9d">mrpt::random::CRandomGenerator::drawGaussianMultivariate()</a>.</p>
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<a class="anchor" id="a5b1d5e7ef7ee69828efa52b408648608"></a><!-- doxytag: member="mrpt::random::randomNormalMultiDimensionalMany" ref="a5b1d5e7ef7ee69828efa52b408648608" args="(const CMatrixTemplateNumeric< T > &cov, size_t desiredSamples, std::vector< std::vector< T > > &ret, std::vector< T > *samplesLikelihoods=NULL)" -->
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<td class="memname">void mrpt::random::randomNormalMultiDimensionalMany </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< T > & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>desiredSamples</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > > & </td>
<td class="paramname"><em>ret</em>, </td>
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<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > * </td>
<td class="paramname"><em>samplesLikelihoods</em> = <code>NULL</code> </td>
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<p>Generate a given number of multidimensional random samples according to a given covariance matrix. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">cov</td><td>The covariance matrix where to draw the samples from. </td></tr>
<tr><td class="paramname">desiredSamples</td><td>The number of samples to generate. </td></tr>
<tr><td class="paramname">samplesLikelihoods</td><td>If desired, set to a valid pointer to a vector, where it will be stored the likelihoods of having obtained each sample: the product of the gaussian-pdf for each independent variable. </td></tr>
<tr><td class="paramname">ret</td><td>The output list of samples</td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid covariance matrix</td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#afb45a0dc6818892974defd932c504028" title="Generate multidimensional random samples according to a given covariance matrix.">randomNormalMultiDimensional</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00414">414</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="_random_generators_8h_source.html#l00239">mrpt::random::CRandomGenerator::drawGaussianMultivariateMany()</a>.</p>
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<a class="anchor" id="a7b1e3e134cd17409849dd7fb62aee489"></a><!-- doxytag: member="mrpt::random::randomNormalMultiDimensionalMany" ref="a7b1e3e134cd17409849dd7fb62aee489" args="(const CMatrixFixedNumeric< T, N, N > &cov, size_t desiredSamples, std::vector< std::vector< T > > &ret)" -->
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<td class="memname">void mrpt::random::randomNormalMultiDimensionalMany </td>
<td>(</td>
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<td class="paramname"><em>cov</em>, </td>
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<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>desiredSamples</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > > & </td>
<td class="paramname"><em>ret</em> </td>
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<td>)</td>
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<p>Generate multidimensional random samples according to a given covariance matrix. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid covariance matrix </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#afb45a0dc6818892974defd932c504028" title="Generate multidimensional random samples according to a given covariance matrix.">randomNormalMultiDimensional</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00428">428</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="_random_generators_8h_source.html#l00239">mrpt::random::CRandomGenerator::drawGaussianMultivariateMany()</a>.</p>
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<a class="anchor" id="ae505099440683685a98a33761d8b1527"></a><!-- doxytag: member="mrpt::random::randomPermutation" ref="ae505099440683685a98a33761d8b1527" args="(const std::vector< T > &in_vector, std::vector< T > &out_result)" -->
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<td class="memname">void mrpt::random::randomPermutation </td>
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<td class="paramname"><em>in_vector</em>, </td>
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<td class="paramname"><em>out_result</em> </td>
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<p>Returns a random permutation of a vector: all the elements of the input vector are in the output but at random positions. </p>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00383">383</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="_random_generators_8h_source.html#l00288">mrpt::random::CRandomGenerator::permuteVector()</a>.</p>
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<a class="anchor" id="a60f07d06c183298a085dec3534c50338"></a><!-- doxytag: member="mrpt::random::vectorRandomNormal" ref="a60f07d06c183298a085dec3534c50338" args="(std::vector< T > &v_out, const T &mean=0, const T &std=1)" -->
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<td class="memname">void mrpt::random::vectorRandomNormal </td>
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<td class="paramname"><em>mean</em> = <code>0</code>, </td>
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<td class="paramname"><em>std</em> = <code>1</code> </td>
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<p>Generates a random vector with independent, normally distributed samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#ad7c4e3d36decc3132685f45933086b3a" title="Fills the given matrix with independent, uniformly distributed samples.">matrixRandomUni</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00360">360</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00373">mean()</a>, <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html#a174c76f98b4213166fb87b577fdf2aaa">mrpt::random::CRandomGenerator::drawGaussian1D_normalized()</a>.</p>
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<a class="anchor" id="a62e82d56289ffa599233d5cd504699c3"></a><!-- doxytag: member="mrpt::random::vectorRandomUni" ref="a62e82d56289ffa599233d5cd504699c3" args="(std::vector< T > &v_out, const T &unif_min=0, const T &unif_max=1)" -->
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<td class="paramname"><em>v_out</em>, </td>
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<td class="paramname"><em>unif_min</em> = <code>0</code>, </td>
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<td class="paramkey"></td>
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<td class="paramname"><em>unif_max</em> = <code>1</code> </td>
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<p>Fills the given matrix with independent, uniformly distributed samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1random.html#a60f07d06c183298a085dec3534c50338" title="Generates a random vector with independent, normally distributed samples.">vectorRandomNormal</a> </dd></dl>
<p>Definition at line <a class="el" href="_random_generators_8h_source.html#l00331">331</a> of file <a class="el" href="_random_generators_8h_source.html">RandomGenerators.h</a>.</p>
<p>References <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">randomGenerator</a>, and <a class="el" href="_random_generators_8h_source.html#l00093">mrpt::random::CRandomGenerator::drawUniform()</a>.</p>
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<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="a4743bfa8fcb282b6f5d66395ccabaa73"></a><!-- doxytag: member="mrpt::random::randomGenerator" ref="a4743bfa8fcb282b6f5d66395ccabaa73" args="" -->
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<td class="memname">BASE_IMPEXP <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html">CRandomGenerator</a> <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">mrpt::random::randomGenerator</a></td>
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<p>A static instance of a <a class="el" href="classmrpt_1_1random_1_1_c_random_generator.html" title="A thred-safe pseudo random number generator, based on an internal MT19937 randomness generator...">CRandomGenerator</a> class, for use in single-thread applications. </p>
<p>Referenced by <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00065">mrpt::bayes::CRejectionSamplingCapable< poses::CPose2D >::rejectionSampling()</a>, <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>, <a class="el" href="_p_f__implementations_8h_source.html#l00859">mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step()</a>, <a class="el" href="_random_generators_8h_source.html#l00307">random_generator_for_STL()</a>, <a class="el" href="_random_generators_8h_source.html#l00317">matrixRandomUni()</a>, <a class="el" href="_random_generators_8h_source.html#l00331">vectorRandomUni()</a>, <a class="el" href="_random_generators_8h_source.html#l00346">matrixRandomNormal()</a>, <a class="el" href="_random_generators_8h_source.html#l00360">vectorRandomNormal()</a>, <a class="el" href="_random_generators_8h_source.html#l00373">Randomize()</a>, <a class="el" href="_random_generators_8h_source.html#l00383">randomPermutation()</a>, <a class="el" href="_random_generators_8h_source.html#l00396">randomNormalMultiDimensional()</a>, <a class="el" href="_random_generators_8h_source.html#l00414">randomNormalMultiDimensionalMany()</a>, and <a class="el" href="transform__gaussian_8h_source.html#l00116">mrpt::math::transform_gaussian_montecarlo()</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
