Detailed Description

A namespace of pseudo-random numbers generators of diferent distributions.

The central class in this namespace is mrpt::random::CRandomGenerator

Classes
class	CRandomGenerator
	A thred-safe pseudo random number generator, based on an internal MT19937 randomness generator. More...

class	Generator_MT19937
	Portable MT19937 random generator, C++11 UniformRandomBitGenerator compliant. More...

Functions
template<class RandomIt , class URBG >
void	shuffle (RandomIt first, RandomIt last, URBG &&g)
	Uniform shuffle a sequence. More...

template<class RandomIt >
void	shuffle (RandomIt first, RandomIt last)
	Uniform shuffle a sequence. More...

CRandomGenerator &	getRandomGenerator ()
	A static instance of a CRandomGenerator class, for use in single-thread applications. More...

ptrdiff_t	random_generator_for_STL (ptrdiff_t i)
	A random number generator for usage in STL algorithms expecting a function like this (eg, random_shuffle): More...

template<class MAT >
void	matrixRandomUni (MAT &matrix, const double unif_min=0, const double unif_max=1)
	Fills the given matrix with independent, uniformly distributed samples. More...

template<class T >
void	vectorRandomUni (std::vector< T > &v_out, const T &unif_min=0, const T &unif_max=1)
	Fills the given matrix with independent, uniformly distributed samples. More...

template<class MAT >
void	matrixRandomNormal (MAT &matrix, const double mean=0, const double std=1)
	Fills the given matrix with independent, normally distributed samples. More...

template<class T >
void	vectorRandomNormal (std::vector< T > &v_out, const T &mean=0, const T &std=1)
	Generates a random vector with independent, normally distributed samples. More...

void	Randomize (const uint32_t seed)
	Randomize the generators. More...

void	Randomize ()

template<class T >
void	randomPermutation (const std::vector< T > &in_vector, std::vector< T > &out_result)
	Returns a random permutation of a vector: all the elements of the input vector are in the output but at random positions. More...

template<typename T , typename MATRIX >
void	randomNormalMultiDimensionalMany (const MATRIX &cov, size_t desiredSamples, std::vector< std::vector< T >> &ret, std::vector< T > *samplesLikelihoods=nullptr)
	Generate a given number of multidimensional random samples according to a given covariance matrix. More...

template<typename T , typename MATRIXLIKE >
void	randomNormalMultiDimensionalMany (const MATRIXLIKE &cov, size_t desiredSamples, std::vector< std::vector< T >> &ret)
	Generate multidimensional random samples according to a given covariance matrix. More...

template<typename T , typename MATRIX >
void	randomNormalMultiDimensional (const MATRIX &cov, std::vector< T > &out_result)
	Generate multidimensional random samples according to a given covariance matrix. More...

Function Documentation

◆ getRandomGenerator()

CRandomGenerator & mrpt::random::getRandomGenerator ( )

A static instance of a CRandomGenerator class, for use in single-thread applications.

Definition at line 89 of file RandomGenerator.cpp.

References randomGenerator.

Referenced by GraphSlamLevMarqTest< my_graph_t >::addEdge(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), atan2_lut_test(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::obs::CActionRobotMovement3D::computeFromOdometry_model6DOF(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::bayes::CParticleFilterCapable::computeResampling(), mrpt::poses::CPosePDFParticles::copyFrom(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), mrpt::opengl::CPolyhedron::CreateRandomPolyhedron(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), do_test_init_random(), mrpt::poses::CPose3DQuatPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DQuatPDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPoint2DPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DQuatPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DQuatPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFParticles::drawSingleSample(), mrpt::poses::CPointPDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPointPDFSOG::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::math::RANSAC_Template< NUMTYPE, DATASET, MODEL >::execute(), mrpt::bayes::CParticleFilterCapable::fastDrawSample(), mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian(), fillImagePseudoRandom(), PosePDFGaussTests::generateRandomPose2DPDF(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), generateRandomSparseMatrix(), mrpt::maps::CBeaconMap::internal_insertObservation(), matrixRandomNormal(), matrixRandomUni(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_aux_perform_one_rejection_sampling_step(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), random_generator_for_STL(), Randomize(), randomNormalMultiDimensional(), randomNormalMultiDimensionalMany(), randomPermutation(), ransac_data_assoc_run(), mrpt::bayes::CRejectionSamplingCapable< CPose2D >::rejectionSampling(), mrpt::poses::CPosePDFParticles::resetAroundSetOfPoses(), mrpt::poses::CPose3DPDFParticles::resetUniform(), mrpt::poses::CPosePDFParticles::resetUniform(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), run_test_pf_localization(), mrpt::maps::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences(), mrpt::tfest::se2_l2_robust(), mrpt::tfest::se3_l2_robust(), mrpt::maps::CBeaconMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::maps::COccupancyGridMap2D::simulateScanRay(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), TEST(), TEST_F(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), mrpt::math::transform_gaussian_montecarlo(), vectorRandomNormal(), and vectorRandomUni().

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◆ matrixRandomNormal()

template<class MAT >

void mrpt::random::matrixRandomNormal	(	MAT &	matrix,
		const double	mean = `0`,
		const double	std = `1`
	)

Fills the given matrix with independent, normally distributed samples.

Matrix classes can be mrpt::math::CMatrixDynamic or mrpt::math::CMatrixFixed

See also: matrixRandomUni

Definition at line 450 of file RandomGenerators.h.

References mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), getRandomGenerator(), and mrpt::math::mean().

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◆ matrixRandomUni()

template<class MAT >

void mrpt::random::matrixRandomUni	(	MAT &	matrix,
		const double	unif_min = `0`,
		const double	unif_max = `1`
	)

Fills the given matrix with independent, uniformly distributed samples.

Matrix classes can be mrpt::math::CMatrixDynamic or mrpt::math::CMatrixFixed

See also: matrixRandomNormal

Definition at line 423 of file RandomGenerators.h.

References mrpt::random::CRandomGenerator::drawUniform(), and getRandomGenerator().

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◆ random_generator_for_STL()

ptrdiff_t mrpt::random::random_generator_for_STL ( ptrdiff_t i )

inline

A random number generator for usage in STL algorithms expecting a function like this (eg, random_shuffle):

Definition at line 412 of file RandomGenerators.h.

References mrpt::random::CRandomGenerator::drawUniform32bit(), and getRandomGenerator().

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◆ Randomize() [1/2]

void mrpt::random::Randomize ( const uint32_t seed )

inline

Randomize the generators.

A seed can be providen, or a current-time based seed can be used (default)

Definition at line 475 of file RandomGenerators.h.

References getRandomGenerator(), and mrpt::random::CRandomGenerator::randomize().

Referenced by fillImagePseudoRandom(), and TEST().

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◆ Randomize() [2/2]

void mrpt::random::Randomize ( )

inline

Definition at line 479 of file RandomGenerators.h.

References getRandomGenerator(), and mrpt::random::CRandomGenerator::randomize().

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◆ randomNormalMultiDimensional()

template<typename T , typename MATRIX >

void mrpt::random::randomNormalMultiDimensional	(	const MATRIX &	cov,
		std::vector< T > &	out_result
	)

Generate multidimensional random samples according to a given covariance matrix.

Exceptions

std::exception On invalid covariance matrix

See also: randomNormalMultiDimensionalMany

Definition at line 532 of file RandomGenerators.h.

References mrpt::math::cov(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), and getRandomGenerator().

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◆ randomNormalMultiDimensionalMany() [1/2]

template<typename T , typename MATRIX >

void mrpt::random::randomNormalMultiDimensionalMany	(	const MATRIX &	cov,
		size_t	desiredSamples,
		std::vector< std::vector< T >> &	ret,
		std::vector< T > *	samplesLikelihoods = `nullptr`
	)

Generate a given number of multidimensional random samples according to a given covariance matrix.

Parameters

cov	The covariance matrix where to draw the samples from.
desiredSamples	The number of samples to generate.
samplesLikelihoods	If desired, set to a valid pointer to a vector, where it will be stored the likelihoods of having obtained each sample: the product of the gaussian-pdf for each independent variable.
ret	The output list of samples

Exceptions

std::exception On invalid covariance matrix