Visual Servoing Platform version 3.6.0
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vpGaussRand.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 * Generation of random number with uniform and normal probability density.
32 */
33
34#ifndef vpGaussRand_hh
35#define vpGaussRand_hh
36
37#include <visp3/core/vpConfig.h>
38#include <visp3/core/vpUniRand.h>
39
115class VISP_EXPORT vpGaussRand
116{
117private:
118 double gaussianDraw();
119
120 vpUniRand m_rng;
121 double m_mean;
122 double m_sigma;
123 bool m_AlreadyDone;
124 double m_x2;
125
126public:
130 vpGaussRand() : m_rng(), m_mean(0), m_sigma(0), m_AlreadyDone(false), m_x2(0) {}
131
139 vpGaussRand(double sigma_val, double mean_val, long noise_seed = 0)
140 : m_rng(noise_seed), m_mean(mean_val), m_sigma(sigma_val), m_AlreadyDone(false), m_x2(0)
141 {
142 }
143
150 void setSigmaMean(double sigma_val, double mean_val)
151 {
152 m_mean = mean_val;
153 m_sigma = sigma_val;
154 }
155
161 void seed(long seed_val) { m_rng.setSeed(seed_val, 0x123465789ULL); }
162
166 double operator()() { return m_sigma * gaussianDraw() + m_mean; }
167};
168
169#endif
Class for generating random number with normal probability density.
void setSigmaMean(double sigma_val, double mean_val)
vpGaussRand(double sigma_val, double mean_val, long noise_seed=0)
double operator()()
void seed(long seed_val)
Class for generating random numbers with uniform probability density.
Definition vpUniRand.h:122
void setSeed(uint64_t initstate, uint64_t initseq)