Random.hpp

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#ifndef DART_MATH_RANDOM_HPP_
#define DART_MATH_RANDOM_HPP_
 
#include <random>
 
#include <Eigen/Core>
 
namespace dart {
namespace math {
 
class Random final
{
public:
  using GeneratorType = std::mt19937;
 
  template <typename FloatType>
  using UniformRealDist = std::uniform_real_distribution<FloatType>;
 
  template <typename IntType>
  using UniformIntDist = std::uniform_int_distribution<IntType>;
 
  template <typename FloatType>
  using NormalRealDist = std::normal_distribution<FloatType>;
 
  static GeneratorType& getGenerator();
 
  static void setSeed(unsigned int seed);
 
  static unsigned int generateSeed(bool applyGeneratedSeed = false);
 
  static unsigned int getSeed();
 
  template <typename S>
  static S uniform(S min, S max);
 
  template <typename FixedSizeT>
  static FixedSizeT uniform(
      typename FixedSizeT::Scalar min, typename FixedSizeT::Scalar max);
 
  template <typename DynamicSizeVectorT>
  static DynamicSizeVectorT uniform(
      int size,
      typename DynamicSizeVectorT::Scalar min,
      typename DynamicSizeVectorT::Scalar max);
 
  template <typename DynamicSizeMatrixT>
  static DynamicSizeMatrixT uniform(
      int rows,
      int cols,
      typename DynamicSizeMatrixT::Scalar min,
      typename DynamicSizeMatrixT::Scalar max);
 
  template <typename S>
  static S normal(S mean, S sigma);
 
private:
  static unsigned int& getSeedMutable();
};
 
} // namespace math
} // namespace dart
 
#include "dart/math/detail/Random-impl.hpp"
 
#endif // DART_MATH_RANDOM_HPP_