RNG.hpp

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#ifndef AIKIDO_COMMON_RNG_HPP_
#define AIKIDO_COMMON_RNG_HPP_
 
#include <cassert>
#include <cmath>
#include <cstdint>
#include <memory>
#include <random>
 
#include <Eigen/Geometry>
 
#include "aikido/common/pointers.hpp"
 
namespace aikido {
namespace common {
 
AIKIDO_DECLARE_POINTERS(RNG)
 
constexpr int NUM_DEFAULT_SEEDS{100};
 
class RNG
{
public:
  using result_type = std::uint32_t;
 
  static constexpr std::size_t NUM_BITS{32};
 
  virtual ~RNG() = default;
 
  static constexpr result_type min();
 
  static constexpr result_type max();
 
  virtual result_type operator()() = 0;
 
  virtual void discard(unsigned long long _z) = 0;
 
  virtual std::unique_ptr<RNG> clone() const = 0;
 
  virtual std::unique_ptr<RNG> clone(result_type _seed) const = 0;
};
 
template <class T>
class RNGWrapper : virtual public RNG
{
public:
  using RNG::result_type;
  using engine_type
      = std::independent_bits_engine<T, RNG::NUM_BITS, result_type>;
 
  RNGWrapper() = default;
 
  explicit RNGWrapper(const T& _rng);
 
  explicit RNGWrapper(result_type _seed);
 
  virtual ~RNGWrapper() = default;
 
  T& rng();
 
  const T& rng() const;
 
  // Documentation inherited.
  result_type operator()() override;
 
  // Documentation inherited.
  void discard(unsigned long long _z) override;
 
  // Documentation inherited.
  std::unique_ptr<RNG> clone() const override;
 
  // Documentation inherited.
  std::unique_ptr<RNG> clone(result_type _seed) const override;
 
private:
  engine_type mRng;
};
 
template <
    class Engine,
    class Scalar,
    class Quaternion = Eigen::Quaternion<Scalar>>
Quaternion sampleQuaternion(
    Engine& _engine, std::uniform_real_distribution<Scalar>& _distribution);
 
std::vector<std::unique_ptr<common::RNG>> cloneRNGsFrom(
    RNG& _engine,
    std::size_t _numOutputs,
    std::size_t _numSeeds = NUM_DEFAULT_SEEDS);
 
std::vector<std::unique_ptr<common::RNG>> cloneRNGFrom(
    RNG& _engine, std::size_t _numSeeds = NUM_DEFAULT_SEEDS);
 
} // namespace common
} // namespace aikido
 
#include "detail/RNG-impl.hpp"
 
#endif // AIKIDO_COMMON_RNG_HPP_