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boost::random namespace fixes in geometry

release/4.3a0
Richard Roberts 2014-02-12 17:15:02 -05:00
parent 5ecfac348c
commit 27a86352d7
4 changed files with 7 additions and 18 deletions
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4
gtsam/geometry/Rot3.cpp
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@ -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 :-( // TODO allow any engine without including all of boost :-(
Sphere2 w = Sphere2::Random(rng); 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); double angle = randomAngle(rng);
return rodriguez(w,angle); return rodriguez(w,angle);
} }

2
gtsam/geometry/Rot3.h
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@ -104,7 +104,7 @@ namespace gtsam {
Rot3(const Quaternion& q); Rot3(const Quaternion& q);
/// Random, generates a random axis, then random angle \in [-p,pi] /// 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 destructor */
virtual ~Rot3() {} virtual ~Rot3() {}

4
gtsam/geometry/Sphere2.cpp
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@ -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 :-( // 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); vector<double> d = randomDirection(rng);
Sphere2 result; Sphere2 result;
result.p_ = Point3(d[0], d[1], d[2]); result.p_ = Point3(d[0], d[1], d[2]);

15
gtsam/geometry/Sphere2.h
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@ -22,23 +22,12 @@
#include <gtsam/geometry/Point3.h> #include <gtsam/geometry/Point3.h>
#include <gtsam/base/DerivedValue.h> #include <gtsam/base/DerivedValue.h>
#include <boost/random/mersenne_twister.hpp>
#ifndef SPHERE2_DEFAULT_COORDINATES_MODE #ifndef SPHERE2_DEFAULT_COORDINATES_MODE
#define SPHERE2_DEFAULT_COORDINATES_MODE Sphere2::RENORM #define SPHERE2_DEFAULT_COORDINATES_MODE Sphere2::RENORM
#endif #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 { namespace gtsam {
/// Represents a 3D point on a unit sphere. /// Represents a 3D point on a unit sphere.
@ -75,7 +64,7 @@ public:
boost::optional<Matrix&> H = boost::none); boost::optional<Matrix&> H = boost::none);
/// Random direction, using boost::uniform_on_sphere /// Random direction, using boost::uniform_on_sphere
static Sphere2 Random(boost::random::mt19937 & rng); static Sphere2 Random(boost::mt19937 & rng);
/// @} /// @}