git commit -m "first commit for v2"

Devices/Libraries/Ros/random_numbers/include/random_numbers/random_numbers.h

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+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 the Willow Garage 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.
+ *********************************************************************/
+
+/* Author: Ioan Sucan */
+
+#ifndef RANDOM_NUMBERS_RANDOM_NUMBERS_
+#define RANDOM_NUMBERS_RANDOM_NUMBERS_
+
+#include <boost/random/mersenne_twister.hpp>
+#include <boost/random/uniform_real.hpp>
+#include <boost/random/uniform_int.hpp>
+#include <boost/random/variate_generator.hpp>
+#include <boost/random/normal_distribution.hpp>
+
+namespace random_numbers
+{
+/** \brief Random number generation (wrapper for boost). An instance of this class
+    cannot be used by multiple threads at once (member functions
+    are not const). However, the constructor is thread safe and
+    different instances can be used safely in any number of
+    threads. It is also guaranteed that all created instances will
+    have a "random" random seed. */
+class RandomNumberGenerator
+{
+public:
+  /** \brief Constructor. Always sets a "random" random seed */
+  RandomNumberGenerator(void);
+
+  /** \brief Constructor. Allow a seed to be specified for deterministic behaviour */
+  RandomNumberGenerator(boost::uint32_t seed);
+
+  /** \brief Generate a random real between 0 and 1 */
+  double uniform01(void)
+  {
+    return uni_();
+  }
+
+  /**
+   * @brief Generate a random real within given bounds: [\e lower_bound, \e upper_bound)
+   * @param lower_bound The lower bound
+   * @param upper_bound The upper bound
+   */
+  double uniformReal(double lower_bound, double upper_bound)
+  {
+    return (upper_bound - lower_bound) * uni_() + lower_bound;
+  }
+
+  /** \brief Generate a random real using a normal distribution with mean 0 and variance 1 */
+  double gaussian01(void)
+  {
+    return normal_();
+  }
+
+  /** \brief Generate a random real using a normal distribution with given mean and variance */
+  double gaussian(double mean, double stddev)
+  {
+    return normal_() * stddev + mean;
+  }
+
+  /** \brief Uniform random unit quaternion sampling. The computed value has the order (x,y,z,w)
+   * @param value[4] A four dimensional array in which the computed quaternion will be returned
+   */
+  void quaternion(double value[4]);
+
+  /** \brief Generate an integer uniformly at random within a specified range (inclusive) */
+  int uniformInteger(int min, int max)
+  {
+    boost::uniform_int<> dis(min, max);
+    return dis(generator_);
+  }
+
+  /**
+   * \brief Allow the randomly generated seed to be saved so that experiments / benchmarks can be recreated in the
+   * future
+   */
+  boost::uint32_t getFirstSeed();
+
+private:
+  boost::mt19937 generator_;
+  boost::uniform_real<> uniDist_;
+  boost::normal_distribution<> normalDist_;
+  boost::variate_generator<boost::mt19937&, boost::uniform_real<> > uni_;
+  boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > normal_;
+};
+}  // namespace random_numbers
+
+#endif