Revision: 7713
http://playerstage.svn.sourceforge.net/playerstage/?rev=7713&view=rev
Author: natepak
Date: 2009-05-23 16:29:36 +0000 (Sat, 23 May 2009)
Log Message:
-----------
Added a random number class
Modified Paths:
--------------
code/gazebo/trunk/server/CMakeLists.txt
Added Paths:
-----------
code/gazebo/trunk/server/Rand.cc
code/gazebo/trunk/server/Rand.hh
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-05-23 00:33:08 UTC (rev
7712)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-05-23 16:29:36 UTC (rev
7713)
@@ -63,6 +63,7 @@
GraphicsIfaceHandler.cc
GuiAPI.cc
Simulator.cc
+ Rand.cc
)
SET (headers Common.hh
@@ -87,6 +88,7 @@
GraphicsIfaceHandler.hh
GuiAPI.hh
Simulator.hh
+ Rand.hh
)
APPEND_TO_SERVER_HEADERS(${headers})
Added: code/gazebo/trunk/server/Rand.cc
===================================================================
--- code/gazebo/trunk/server/Rand.cc (rev 0)
+++ code/gazebo/trunk/server/Rand.cc 2009-05-23 16:29:36 UTC (rev 7713)
@@ -0,0 +1,54 @@
+#include <ctime>
+#include "Rand.hh"
+
+using namespace gazebo;
+
+GeneratorType *Rand::randGenerator = new GeneratorType(std::time(0));
+
+///////////////////////////////////////////////////////////////////////////////
+// Constructor
+Rand::Rand()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// Destructor
+Rand::~Rand()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a double from a uniform distribution
+double Rand::GetDblUniform(double min, double max)
+{
+ URealGen gen(*randGenerator, UniformRealDist(min, max));
+
+ return gen();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a double from a normal distribution
+double Rand::GetDblNormal(double mean, double sigma)
+{
+ NRealGen gen(*randGenerator, NormalRealDist(mean, sigma));
+
+ return gen();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a integer from a uniform distribution
+int Rand::GetIntUniform(int min, int max)
+{
+ UIntGen gen(*randGenerator, UniformIntDist(min,max));
+
+ return gen();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/// Get a double from a normal distribution
+int Rand::GetIntNormal(int mean, int sigma)
+{
+ NRealGen gen(*randGenerator, NormalRealDist(mean, sigma));
+
+ return (int)(gen());
+}
Added: code/gazebo/trunk/server/Rand.hh
===================================================================
--- code/gazebo/trunk/server/Rand.hh (rev 0)
+++ code/gazebo/trunk/server/Rand.hh 2009-05-23 16:29:36 UTC (rev 7713)
@@ -0,0 +1,53 @@
+#ifndef RAND_HH
+#define RAND_HH
+
+#include <boost/random.hpp>
+
+namespace gazebo
+{
+
+ typedef boost::mt19937 GeneratorType;
+ typedef boost::uniform_real<double> UniformRealDist;
+ typedef boost::normal_distribution<double> NormalRealDist;
+ typedef boost::uniform_int<int> UniformIntDist;
+
+ typedef boost::variate_generator<GeneratorType&, UniformRealDist > URealGen;
+ typedef boost::variate_generator<GeneratorType&, NormalRealDist > NRealGen;
+ typedef boost::variate_generator<GeneratorType&, UniformIntDist > UIntGen;
+
+ /// \brief Random number generator class
+ class Rand
+ {
+ /// \brief Constructor
+ private: Rand();
+
+ /// \brief Destructor
+ private: virtual ~Rand();
+
+ /// \brief Get a double from a uniform distribution
+ /// \param min Minimum bound for the random number
+ /// \param max Maximum bound for the random number
+ public: static double GetDblUniform(double min=0, double max=1);
+
+ /// \brief Get a double from a normal distribution
+ /// \param mean Mean value for the distribution
+ /// \param sigma Sigma value for the distribution
+ public: static double GetDblNormal(double mean=0, double sigma=1);
+
+ /// \brief Get a integer from a uniform distribution
+ /// \param min Minimum bound for the random number
+ /// \param max Maximum bound for the random number
+ public: static int GetIntUniform(int min, int max);
+
+ /// \brief Get a double from a normal distribution
+ /// \param mean Mean value for the distribution
+ /// \param sigma Sigma value for the distribution
+ public: static int GetIntNormal(int mean, int sigma);
+
+ // The random number generator
+ private: static GeneratorType *randGenerator;
+ };
+
+}
+
+#endif
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