Visual Servoing Platform version 3.6.0
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vpUniRand.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Pseudo random number generator.
32 */
33/*
34 * PCG Random Number Generation for C.
35 *
36 * Copyright 2014 Melissa O'Neill <oneill@pcg-random.org>
37 *
38 * Licensed under the Apache License, Version 2.0 (the "License");
39 * you may not use this file except in compliance with the License.
40 * You may obtain a copy of the License at
41 *
42 * http://www.apache.org/licenses/LICENSE-2.0
43 *
44 * Unless required by applicable law or agreed to in writing, software
45 * distributed under the License is distributed on an "AS IS" BASIS,
46 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
47 * See the License for the specific language governing permissions and
48 * limitations under the License.
49 *
50 * For additional information about the PCG random number generation scheme,
51 * including its license and other licensing options, visit
52 *
53 * http://www.pcg-random.org
54 */
55
56/*
57 * This code is derived from the full C implementation, which is in turn
58 * derived from the canonical C++ PCG implementation. The C++ version
59 * has many additional features and is preferable if you can use C++ in
60 * your project.
61 */
62
63#ifndef _vpUniRand_h_
64#define _vpUniRand_h_
65
66#include <visp3/core/vpConfig.h>
67// Visual Studio 2010 or previous is missing inttypes.h
68#if defined(_MSC_VER) && (_MSC_VER < 1700)
69typedef unsigned __int64 uint64_t;
70typedef unsigned __int32 uint32_t;
71#else
72#include <inttypes.h>
73#endif
74
75#if (VISP_CXX_STANDARD <= VISP_CXX_STANDARD_11)
76#include <algorithm> // std::random_shuffle
77#else
78#include <algorithm> // std::shuffle
79#include <random> // std::mt19937
80#include <numeric> // std::iota
81#endif
82
83#include <vector>
121class VISP_EXPORT vpUniRand
122{
123private:
124 struct vpPcgStateSetseq_64_t
125 { // Internals are *Private*.
126 uint64_t state; // RNG state. All values are possible.
127 uint64_t inc; // Controls which RNG sequence (stream) is
128 // selected. Must *always* be odd.
129
130 vpPcgStateSetseq_64_t(uint64_t state_ = 0x853c49e6748fea9bULL, uint64_t inc_ = 0xda3e39cb94b95bdbULL)
131 : state(state_), inc(inc_)
132 { }
133 };
134 typedef struct vpPcgStateSetseq_64_t pcg32_random_t;
135
136public:
137 vpUniRand();
138 vpUniRand(uint64_t seed, uint64_t seq = 0x123465789ULL);
139
140 double operator()();
141
142 uint32_t next();
143 int uniform(int a, int b);
144 float uniform(float a, float b);
145 double uniform(double a, double b);
146 void setSeed(uint64_t initstate, uint64_t initseq);
147
155 template<typename T>
156 inline static std::vector<T> shuffleVector(const std::vector<T> &inputVector)
157 {
158 std::vector<T> shuffled = inputVector;
159#if (VISP_CXX_STANDARD <= VISP_CXX_STANDARD_11)
160 std::random_shuffle(shuffled.begin(), shuffled.end());
161#else
162 std::shuffle(shuffled.begin(), shuffled.end(), std::mt19937 { std::random_device{}() });
163#endif
164 return shuffled;
165 }
166
167private:
168 uint32_t boundedRand(uint32_t bound);
169
170 double m_maxInvDbl;
171 float m_maxInvFlt;
172 pcg32_random_t m_rng;
173};
174
175#endif
Class for generating random numbers with uniform probability density.
Definition vpUniRand.h:122
static std::vector< T > shuffleVector(const std::vector< T > &inputVector)
Create a new vector that is a shuffled version of the inputVector.
Definition vpUniRand.h:156