g2o::tutorial::Rand Class Reference

generate random numbers More...

#include <rand.h>

Static Public Member Functions
static double	gauss_rand (double mean, double sigma)
static double	uniform_rand (double lowerBndr, double upperBndr)
static void	seed_rand ()
static void	seed_rand (unsigned int seed)

Detailed Description

generate random numbers

Definition at line 43 of file rand.h.

Member Function Documentation

static double g2o::tutorial::Rand::gauss_rand ( double  mean, double  sigma  )

inlinestatic

Gaussian random with a mean and standard deviation. Uses the Polar method of Marsaglia.

Definition at line 50 of file rand.h.

References uniform_rand().

        {
          double x, y, r2;
          do {
            x = -1.0 + 2.0 * uniform_rand(0.0, 1.0);
            y = -1.0 + 2.0 * uniform_rand(0.0, 1.0);
            r2 = x * x + y * y;
          } while (r2 > 1.0 || r2 == 0.0);
          return mean + sigma * y * std::sqrt(-2.0 * log(r2) / r2);
        }

static void g2o::tutorial::Rand::seed_rand ( )

inlinestatic

default seed function using the current time in seconds

Definition at line 72 of file rand.h.

        {
          seed_rand(static_cast<unsigned int>(std::time(NULL)));
        }

static void g2o::tutorial::Rand::seed_rand ( unsigned int  seed )

inlinestatic

seed the random number generator

Definition at line 78 of file rand.h.

        {
          std::srand(seed);
        }

static double g2o::tutorial::Rand::uniform_rand ( double  lowerBndr, double  upperBndr  )

inlinestatic

sample a number from a uniform distribution

Definition at line 64 of file rand.h.

        {
          return lowerBndr + ((double) std::rand() / (RAND_MAX + 1.0)) * (upperBndr - lowerBndr);
        }

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The documentation for this class was generated from the following file:

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/tutorial_slam2d/rand.h