92 lines
2.2 KiB
C++
92 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Random number generator
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* Author: Nate Koenig
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* Date: 27 May 2009
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*/
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#include <sys/types.h>
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#ifdef _WIN32
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#include <process.h>
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#else
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#include <unistd.h>
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#endif
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#include <ctime>
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#include "gazebo/math/Rand.hh"
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using namespace gazebo;
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using namespace math;
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// We don't seed with time for the cases when two processes are started the
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// same time (this mostly happens with launch scripts that start a server
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// and gui simultaneously).
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#ifdef _WIN32
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uint32_t Rand::seed = _getpid();
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#else
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uint32_t Rand::seed = getpid();
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#endif
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GeneratorType *Rand::randGenerator = new GeneratorType(seed);
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//////////////////////////////////////////////////
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void Rand::SetSeed(uint32_t _seed)
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{
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seed = _seed;
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randGenerator->seed(seed);
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}
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//////////////////////////////////////////////////
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uint32_t Rand::GetSeed()
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{
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return seed;
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}
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//////////////////////////////////////////////////
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double Rand::GetDblUniform(double _min, double _max)
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{
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URealGen gen(*randGenerator, UniformRealDist(_min, _max));
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return gen();
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}
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//////////////////////////////////////////////////
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double Rand::GetDblNormal(double _mean, double _sigma)
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{
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NRealGen gen(*randGenerator, NormalRealDist(_mean, _sigma));
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return gen();
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}
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//////////////////////////////////////////////////
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int Rand::GetIntUniform(int _min, int _max)
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{
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UIntGen gen(*randGenerator, UniformIntDist(_min, _max));
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return gen();
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}
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//////////////////////////////////////////////////
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int Rand::GetIntNormal(int _mean, int _sigma)
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{
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NRealGen gen(*randGenerator, NormalRealDist(_mean, _sigma));
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return static_cast<int>(gen());
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}
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