Rand.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Random number generator
 * Author: Nate Koenig
 * Date: 27 May 2009
 * SVN: $Id:$
 */

#ifndef RAND_HH
#define RAND_HH

#include <boost/random.hpp>

namespace gazebo
{
    namespace math
  {
  
    typedef boost::mt19937 GeneratorType;
    typedef boost::uniform_real<double> UniformRealDist;
    typedef boost::normal_distribution<double> NormalRealDist;
    typedef boost::uniform_int<int> UniformIntDist;
  
    typedef boost::variate_generator<GeneratorType&, UniformRealDist > URealGen;
    typedef boost::variate_generator<GeneratorType&, NormalRealDist > NRealGen;
    typedef boost::variate_generator<GeneratorType&, UniformIntDist > UIntGen;
  
   
    class Rand
    {
      private: Rand();
  
      private: virtual ~Rand();
   
      public: static double GetDblUniform(double min=0, double max=1);
  
      public: static double GetDblNormal(double mean=0, double sigma=1);
  
      public: static int GetIntUniform(int min, int max);
  
      public: static int GetIntNormal(int mean, int sigma);
    
      // The random number generator
      private: static GeneratorType *randGenerator;
    };
    
  }

}
#endif