Random now uses std header <random>.

gtsam/geometry/Rot3.cpp

@@ -21,8 +21,9 @@
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/geometry/SO3.h>
 #include <boost/math/constants/constants.hpp>
-#include <boost/random.hpp>
+
 #include <cmath>
+#include <random>
 
 using namespace std;
 
@@ -34,10 +35,10 @@ void Rot3::print(const std::string& s) const {
 }
 
 /* ************************************************************************* */
-Rot3 Rot3::Random(boost::mt19937& rng) {
+Rot3 Rot3::Random(std::mt19937& rng) {
   // TODO allow any engine without including all of boost :-(
   Unit3 axis = Unit3::Random(rng);
-  boost::uniform_real<double> randomAngle(-M_PI, M_PI);
+  uniform_real_distribution<double> randomAngle(-M_PI, M_PI);
   double angle = randomAngle(rng);
   return AxisAngle(axis, angle);
 }

gtsam/geometry/Rot3.h

@@ -28,6 +28,8 @@
 #include <gtsam/base/concepts.h>
 #include <gtsam/config.h> // Get GTSAM_USE_QUATERNIONS macro
 
+#include <random>
+
 // You can override the default coordinate mode using this flag
 #ifndef ROT3_DEFAULT_COORDINATES_MODE
   #ifdef GTSAM_USE_QUATERNIONS
@@ -128,8 +130,13 @@ namespace gtsam {
     Rot3(const Quaternion& q);
     Rot3(double w, double x, double y, double z) : Rot3(Quaternion(w, x, y, z)) {}
 
-    /// Random, generates a random axis, then random angle \in [-p,pi]
+    /**
-    static Rot3 Random(boost::mt19937 & rng);
+     * Random, generates a random axis, then random angle \in [-p,pi]
+     * Example:
+     *   std::mt19937 engine(42);
+     *   Unit3 unit = Unit3::Random(engine);
+     */
+    static Rot3 Random(std::mt19937 & rng);
 
     /** Virtual destructor */
     virtual ~Rot3() {}

gtsam/geometry/SO4.cpp

@@ -22,11 +22,11 @@
 #include <gtsam/geometry/Unit3.h>
 
 #include <Eigen/Eigenvalues>
-#include <boost/random.hpp>
 
 #include <algorithm>
 #include <cmath>
 #include <iostream>
+#include <random>
 #include <vector>
 
 using namespace std;

gtsam/geometry/SO4.h

@@ -27,8 +27,6 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/dllexport.h>
 
-#include <boost/random/mersenne_twister.hpp>
-
 #include <string>
 
 namespace gtsam {

gtsam/geometry/SOn.h

@@ -23,8 +23,9 @@
 #include <gtsam/dllexport.h>
 
 #include <Eigen/Core>
-#include <boost/random.hpp>
 
+#include <iostream> // TODO(frank): how to avoid?
+#include <random>
 #include <string>
 #include <type_traits>
 #include <vector>
@@ -112,12 +113,12 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   /// currently only defined for SO3.
   static SO ChordalMean(const std::vector<SO>& rotations);
 
-  /// Random SO(n) element (no big claims about uniformity)
+  /// Random SO(n) element (no big claims about uniformity). SO(3) is specialized in SO3.cpp
   template <int N_ = N, typename = IsDynamic<N_>>
-  static SO Random(boost::mt19937& rng, size_t n = 0) {
+  static SO Random(std::mt19937& rng, size_t n = 0) {
     if (n == 0) throw std::runtime_error("SO: Dimensionality not known.");
-    // TODO(frank): This needs to be re-thought!
+    // TODO(frank): this might need to be re-thought
-    static boost::uniform_real<double> randomAngle(-M_PI, M_PI);
+    static std::uniform_real_distribution<double> randomAngle(-M_PI, M_PI);
     const size_t d = SO::Dimension(n);
     Vector xi(d);
     for (size_t j = 0; j < d; j++) {
@@ -128,7 +129,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
 
   /// Random SO(N) element (no big claims about uniformity)
   template <int N_ = N, typename = IsFixed<N_>>
-  static SO Random(boost::mt19937& rng) {
+  static SO Random(std::mt19937& rng) {
     // By default, use dynamic implementation above. Specialized for SO(3).
     return SO(SO<Eigen::Dynamic>::Random(rng, N).matrix());
   }

gtsam/geometry/Unit3.cpp

@@ -27,12 +27,13 @@
 #  pragma clang diagnostic push
 #  pragma clang diagnostic ignored "-Wunused-variable"
 #endif
+#define BOOST_ALLOW_DEPRECATED_HEADERS
 #include <boost/random/uniform_on_sphere.hpp>
+#include <boost/random/variate_generator.hpp>
 #ifdef __clang__
 #  pragma clang diagnostic pop
 #endif
 
-#include <boost/random/variate_generator.hpp>
 #include <iostream>
 #include <limits>
 #include <cmath>
@@ -54,12 +55,12 @@ Unit3 Unit3::FromPoint3(const Point3& point, OptionalJacobian<2, 3> H) {
 }
 
 /* ************************************************************************* */
-Unit3 Unit3::Random(boost::mt19937 & rng) {
+Unit3 Unit3::Random(std::mt19937& rng) {
   // TODO(dellaert): allow any engine without including all of boost :-(
   boost::uniform_on_sphere<double> randomDirection(3);
   // This variate_generator object is required for versions of boost somewhere
   // around 1.46, instead of drawing directly using boost::uniform_on_sphere(rng).
-  boost::variate_generator<boost::mt19937&, boost::uniform_on_sphere<double> > generator(
+  boost::variate_generator<std::mt19937&, boost::uniform_on_sphere<double> > generator(
       rng, randomDirection);
   const vector<double> d = generator();
   return Unit3(d[0], d[1], d[2]);

gtsam/geometry/Unit3.h

@@ -27,9 +27,9 @@
 #include <gtsam/dllexport.h>
 
 #include <boost/optional.hpp>
-#include <boost/random/mersenne_twister.hpp>
 #include <boost/serialization/nvp.hpp>
 
+#include <random>
 #include <string>
 
 #ifdef GTSAM_USE_TBB
@@ -97,8 +97,13 @@ public:
   GTSAM_EXPORT static Unit3 FromPoint3(const Point3& point, //
       OptionalJacobian<2, 3> H = boost::none);
 
-  /// Random direction, using boost::uniform_on_sphere
+  /**
-  GTSAM_EXPORT static Unit3 Random(boost::mt19937 & rng);
+   * Random direction, using boost::uniform_on_sphere
+   * Example:
+   *   std::mt19937 engine(42);
+   *   Unit3 unit = Unit3::Random(engine);
+   */
+  GTSAM_EXPORT static Unit3 Random(std::mt19937 & rng);
 
   /// @}
 

gtsam/geometry/tests/testSO4.cpp

@@ -25,6 +25,7 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <iostream>
+#include <random>
 
 using namespace std;
 using namespace gtsam;
@@ -57,7 +58,7 @@ SO4 Q3 = SO4::Expmap(v3);
 
 //******************************************************************************
 TEST(SO4, Random) {
-  boost::mt19937 rng(42);
+  std::mt19937 rng(42);
   auto Q = SO4::Random(rng);
   EXPECT_LONGS_EQUAL(4, Q.matrix().rows());
 }

gtsam/geometry/tests/testSOn.cpp

@@ -30,9 +30,8 @@
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/random.hpp>
-
 #include <iostream>
+#include <random>
 #include <stdexcept>
 #include <type_traits>
 
@@ -88,7 +87,7 @@ TEST(SOn, Values) {
 
 //******************************************************************************
 TEST(SOn, Random) {
-  static boost::mt19937 rng(42);
+  static std::mt19937 rng(42);
   EXPECT_LONGS_EQUAL(3, SOn::Random(rng, 3).rows());
   EXPECT_LONGS_EQUAL(4, SOn::Random(rng, 4).rows());
   EXPECT_LONGS_EQUAL(5, SOn::Random(rng, 5).rows());

gtsam/geometry/tests/testUnit3.cpp

@@ -33,9 +33,10 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/bind.hpp>
-#include <boost/random.hpp>
 #include <boost/assign/std/vector.hpp>
+
 #include <cmath>
+#include <random>
 
 using namespace boost::assign;
 using namespace gtsam;
@@ -339,7 +340,7 @@ TEST(Unit3, basis) {
 /// Check the basis derivatives of a bunch of random Unit3s.
 TEST(Unit3, basis_derivatives) {
   int num_tests = 100;
-  boost::mt19937 rng(42);
+  std::mt19937 rng(42);
   for (int i = 0; i < num_tests; i++) {
     Unit3 p = Unit3::Random(rng);
 
@@ -403,7 +404,7 @@ TEST(Unit3, retract_expmap) {
 
 //*******************************************************************************
 TEST(Unit3, Random) {
-  boost::mt19937 rng(42);
+  std::mt19937 rng(42);
   // Check that means are all zero at least
   Point3 expectedMean(0,0,0), actualMean(0,0,0);
   for (size_t i = 0; i < 100; i++)
@@ -415,7 +416,7 @@ TEST(Unit3, Random) {
 //*******************************************************************************
 // New test that uses Unit3::Random
 TEST(Unit3, localCoordinates_retract) {
-  boost::mt19937 rng(42);
+  std::mt19937 rng(42);
   size_t numIterations = 10000;
 
   for (size_t i = 0; i < numIterations; i++) {