Program Listing for File random.h¶
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#ifndef PCL_COMMON_RANDOM_H_
#define PCL_COMMON_RANDOM_H_
#ifdef __GNUC__
#pragma GCC system_header
#endif
#include <boost/random/uniform_real.hpp>
#include <boost/random/uniform_int.hpp>
#include <boost/random/variate_generator.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/random/mersenne_twister.hpp>
#include <pcl/pcl_macros.h>
namespace pcl
{
namespace common
{
/// uniform distribution dummy struct
template <typename T> struct uniform_distribution;
/// uniform distribution int specialized
template<>
struct uniform_distribution<int>
{
typedef boost::uniform_int<int> type;
};
/// uniform distribution float specialized
template<>
struct uniform_distribution<float>
{
typedef boost::uniform_real<float> type;
};
/// normal distribution
template<typename T>
struct normal_distribution
{
typedef boost::normal_distribution<T> type;
};
/** \brief UniformGenerator class generates a random number from range [min, max] at each run picked
* according to a uniform distribution i.e eaach number within [min, max] has almost the same
* probability of being drawn.
*
* \author Nizar Sallem
*/
template<typename T>
class UniformGenerator
{
public:
struct Parameters
{
Parameters (T _min = 0, T _max = 1, pcl::uint32_t _seed = 1)
: min (_min)
, max (_max)
, seed (_seed)
{}
T min;
T max;
pcl::uint32_t seed;
};
/** Constructor
* \param min: included lower bound
* \param max: included higher bound
* \param seed: seeding value
*/
UniformGenerator(T min = 0, T max = 1, pcl::uint32_t seed = -1);
/** Constructor
* \param parameters uniform distribution parameters and generator seed
*/
UniformGenerator(const Parameters& parameters);
/** Change seed value
* \param[in] seed new generator seed value
*/
void
setSeed (pcl::uint32_t seed);
/** Set the uniform number generator parameters
* \param[in] min minimum allowed value
* \param[in] max maximum allowed value
* \param[in] seed random number generator seed (applied if != -1)
*/
void
setParameters (T min, T max, pcl::uint32_t seed = -1);
/** Set generator parameters
* \param parameters uniform distribution parameters and generator seed
*/
void
setParameters (const Parameters& parameters);
/// \return uniform distribution parameters and generator seed
const Parameters&
getParameters () { return (parameters_); }
/// \return a randomly generated number in the interval [min, max]
inline T
run () { return (generator_ ()); }
private:
typedef boost::mt19937 EngineType;
typedef typename uniform_distribution<T>::type DistributionType;
/// parameters
Parameters parameters_;
/// uniform distribution
DistributionType distribution_;
/// random number generator
EngineType rng_;
/// generator of random number from a uniform distribution
boost::variate_generator<EngineType&, DistributionType> generator_;
};
/** \brief NormalGenerator class generates a random number from a normal distribution specified
* by (mean, sigma).
*
* \author Nizar Sallem
*/
template<typename T>
class NormalGenerator
{
public:
struct Parameters
{
Parameters (T _mean = 0, T _sigma = 1, pcl::uint32_t _seed = 1)
: mean (_mean)
, sigma (_sigma)
, seed (_seed)
{}
T mean;
T sigma;
pcl::uint32_t seed;
};
/** Constructor
* \param[in] mean normal mean
* \param[in] sigma normal variation
* \param[in] seed seeding value
*/
NormalGenerator(T mean = 0, T sigma = 1, pcl::uint32_t seed = -1);
/** Constructor
* \param parameters normal distribution parameters and seed
*/
NormalGenerator(const Parameters& parameters);
/** Change seed value
* \param[in] seed new seed value
*/
void
setSeed (pcl::uint32_t seed);
/** Set the normal number generator parameters
* \param[in] mean mean of the normal distribution
* \param[in] sigma standard variation of the normal distribution
* \param[in] seed random number generator seed (applied if != -1)
*/
void
setParameters (T mean, T sigma, pcl::uint32_t seed = -1);
/** Set generator parameters
* \param parameters normal distribution parameters and seed
*/
void
setParameters (const Parameters& parameters);
/// \return normal distribution parameters and generator seed
const Parameters&
getParameters () { return (parameters_); }
/// \return a randomly generated number in the normal distribution (mean, sigma)
inline T
run () { return (generator_ ()); }
typedef boost::mt19937 EngineType;
typedef typename normal_distribution<T>::type DistributionType;
/// parameters
Parameters parameters_;
/// normal distribution
DistributionType distribution_;
/// random number generator
EngineType rng_;
/// generator of random number from a normal distribution
boost::variate_generator<EngineType&, DistributionType > generator_;
};
}
}
#include <pcl/common/impl/random.hpp>
#endif