GaussianSampler.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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#ifndef RL_PLAN_GAUSSIANSAMPLER_H
#define RL_PLAN_GAUSSIANSAMPLER_H
 
#include "UniformSampler.h"
 
namespace rl
{
    namespace plan
    {
        class GaussianSampler : public UniformSampler
        {
        public:
            GaussianSampler();
            
            virtual ~GaussianSampler();
            
            ::rl::math::Vector generateCollisionFree();
            
            virtual void seed(const ::std::mt19937::result_type& value);
            
            ::rl::math::Vector* sigma;
            
        protected:
            ::std::normal_distribution< ::rl::math::Real>::result_type gauss();
            
            ::std::normal_distribution< ::rl::math::Real> gaussDistribution;
            
            ::std::mt19937 gaussEngine;
            
        private:
            
        };
    }
}
 
#endif // RL_PLAN_GAUSSIANSAMPLER_H