git commit -m "first commit for v2"

2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
--- a/Devices/Libraries/Ros/random_numbers/src/random_numbers.cpp
+++ b/Devices/Libraries/Ros/random_numbers/src/random_numbers.cpp
@@ -0,0 +1,108 @@
+/*********************************************************************
+ * 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 */
+
+#include "random_numbers/random_numbers.h"
+
+#include <boost/random/lagged_fibonacci.hpp>
+#include <boost/random/uniform_int.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/date_time/posix_time/posix_time.hpp>
+#include <boost/math/constants/constants.hpp>
+#include <boost/scoped_ptr.hpp>
+
+static boost::uint32_t first_seed_ = 0;
+
+/// Compute the first seed to be used; this function should be called only once
+static boost::uint32_t firstSeed(void)
+{
+  boost::scoped_ptr<int> mem(new int());
+  first_seed_ = (boost::uint32_t)(
+      (boost::posix_time::microsec_clock::universal_time() - boost::posix_time::ptime(boost::date_time::min_date_time))
+          .total_microseconds() +
+      (unsigned long long)(mem.get()));
+  return first_seed_;
+}
+
+/// We use a different random number generator for the seeds of the
+/// Other random generators. The root seed is from the number of
+/// nano-seconds in the current time.
+static boost::uint32_t nextSeed(void)
+{
+  static boost::mutex rngMutex;
+  boost::mutex::scoped_lock slock(rngMutex);
+  static boost::lagged_fibonacci607 sGen(firstSeed());
+  static boost::uniform_int<> sDist(1, 1000000000);
+  static boost::variate_generator<boost::lagged_fibonacci607&, boost::uniform_int<> > s(sGen, sDist);
+  boost::uint32_t v = s();
+  return v;
+}
+
+random_numbers::RandomNumberGenerator::RandomNumberGenerator(void)
+  : generator_(nextSeed())
+  , uniDist_(0, 1)
+  , normalDist_(0, 1)
+  , uni_(generator_, uniDist_)
+  , normal_(generator_, normalDist_)
+{
+}
+
+random_numbers::RandomNumberGenerator::RandomNumberGenerator(boost::uint32_t seed)
+  : generator_(seed), uniDist_(0, 1), normalDist_(0, 1), uni_(generator_, uniDist_), normal_(generator_, normalDist_)
+{
+  // Because we manually specified a seed, we need to save it ourselves
+  first_seed_ = seed;
+}
+
+// From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III,
+//       pg. 124-132
+void random_numbers::RandomNumberGenerator::quaternion(double value[4])
+{
+  double x0 = uni_();
+  double r1 = sqrt(1.0 - x0), r2 = sqrt(x0);
+  double t1 = 2.0 * boost::math::constants::pi<double>() * uni_(),
+         t2 = 2.0 * boost::math::constants::pi<double>() * uni_();
+  double c1 = cos(t1), s1 = sin(t1);
+  double c2 = cos(t2), s2 = sin(t2);
+  value[0] = s1 * r1;
+  value[1] = c1 * r1;
+  value[2] = s2 * r2;
+  value[3] = c2 * r2;
+}
+
+boost::uint32_t random_numbers::RandomNumberGenerator::getFirstSeed()
+{
+  return first_seed_;
+}