From 27a86352d718fb8ac866dbc34299f756a3abdc79 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 12 Feb 2014 17:15:02 -0500
Subject: [PATCH] boost::random namespace fixes in geometry

---
 gtsam/geometry/Rot3.cpp    |  4 ++--
 gtsam/geometry/Rot3.h      |  2 +-
 gtsam/geometry/Sphere2.cpp |  4 ++--
 gtsam/geometry/Sphere2.h   | 15 ++-------------
 4 files changed, 7 insertions(+), 18 deletions(-)

diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 72124d25d..3cb41e936 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -45,10 +45,10 @@ Rot3 Rot3::rodriguez(const Sphere2& w, double theta) {
 }
 
 /* ************************************************************************* */
-Rot3 Rot3::Random(boost::random::mt19937 & rng) {
+Rot3 Rot3::Random(boost::mt19937 & rng) {
   // TODO allow any engine without including all of boost :-(
   Sphere2 w = Sphere2::Random(rng);
-  boost::random::uniform_real_distribution<double> randomAngle(-M_PI,M_PI);
+  boost::uniform_real<double> randomAngle(-M_PI,M_PI);
   double angle = randomAngle(rng);
   return rodriguez(w,angle);
 }
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 847d31d65..83232ea02 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -104,7 +104,7 @@ namespace gtsam {
     Rot3(const Quaternion& q);
 
     /// Random, generates a random axis, then random angle \in [-p,pi]
-    static Rot3 Random(boost::random::mt19937 & rng);
+    static Rot3 Random(boost::mt19937 & rng);
 
     /** Virtual destructor */
     virtual ~Rot3() {}
diff --git a/gtsam/geometry/Sphere2.cpp b/gtsam/geometry/Sphere2.cpp
index ed2561e22..6acb06dde 100644
--- a/gtsam/geometry/Sphere2.cpp
+++ b/gtsam/geometry/Sphere2.cpp
@@ -44,9 +44,9 @@ Sphere2 Sphere2::FromPoint3(const Point3& point,
 }
 
 /* ************************************************************************* */
-Sphere2 Sphere2::Random(boost::random::mt19937 & rng) {
+Sphere2 Sphere2::Random(boost::mt19937 & rng) {
   // TODO allow any engine without including all of boost :-(
-  boost::random::uniform_on_sphere<double> randomDirection(3);
+  boost::uniform_on_sphere<double> randomDirection(3);
   vector<double> d = randomDirection(rng);
   Sphere2 result;
   result.p_ = Point3(d[0], d[1], d[2]);
diff --git a/gtsam/geometry/Sphere2.h b/gtsam/geometry/Sphere2.h
index d4047f421..82c6bb3d7 100644
--- a/gtsam/geometry/Sphere2.h
+++ b/gtsam/geometry/Sphere2.h
@@ -22,23 +22,12 @@
 
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/base/DerivedValue.h>
+#include <boost/random/mersenne_twister.hpp>
 
 #ifndef SPHERE2_DEFAULT_COORDINATES_MODE
   #define SPHERE2_DEFAULT_COORDINATES_MODE Sphere2::RENORM
 #endif
 
-// (Cumbersome) forward declaration for random generator
-namespace boost {
-namespace random {
-template<class UIntType, std::size_t w, std::size_t n, std::size_t m,
-    std::size_t r, UIntType a, std::size_t u, UIntType d, std::size_t s,
-    UIntType b, std::size_t t, UIntType c, std::size_t l, UIntType f>
-class mersenne_twister_engine;
-typedef mersenne_twister_engine<uint32_t, 32, 624, 397, 31, 0x9908b0df, 11,
-    0xffffffff, 7, 0x9d2c5680, 15, 0xefc60000, 18, 1812433253> mt19937;
-}
-}
-
 namespace gtsam {
 
 /// Represents a 3D point on a unit sphere.
@@ -75,7 +64,7 @@ public:
       boost::optional<Matrix&> H = boost::none);
 
   /// Random direction, using boost::uniform_on_sphere
-  static Sphere2 Random(boost::random::mt19937 & rng);
+  static Sphere2 Random(boost::mt19937 & rng);
 
   /// @}