probability-law-simulation.hpp

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#ifndef SENSORSSIMULATIONPROBABILITYLAWSIMULATIONHPP
#define SENSORSSIMULATIONPROBABILITYLAWSIMULATIONHPP
 
#include <random>
 
#include <state-observation/api.h>
#include <state-observation/tools/definitions.hpp>
 
namespace stateObservation
{
namespace tools
{
class STATE_OBSERVATION_DLLAPI ProbabilityLawSimulation
{
public:
  static double getGaussianScalar(double std = 1, double bias = 0);

  template<typename BiasType,
           typename StdType = Eigen::Matrix<double, BiasType::RowsAtCompileTime, BiasType::RowsAtCompileTime>>
  static Eigen::Matrix<double, BiasType::RowsAtCompileTime, BiasType::ColsAtCompileTime> getGaussianMatrix(
      BiasType bias = Eigen::Matrix<double, BiasType::RowsAtCompileTime, BiasType::ColsAtCompileTime>::Zero(),
      StdType std = Eigen::Matrix<double, BiasType::RowsAtCompileTime, BiasType::RowsAtCompileTime>::Identity(),
      Index rows = Index(EigenType<BiasType>::type::RowsAtCompileTime),
      Index cols = Index(EigenType<BiasType>::type::ColsAtCompileTime));

  static double getUniformScalar(double min = -1., double max = 1.);

  template<typename ReturnType = Matrix>
  static typename MatrixType<ReturnType>::type getUniformMatrix(Index rows = ReturnType::RowsAtCompileTime,
                                                                Index cols = ReturnType::ColsAtCompileTime,
                                                                double min = -1.,
                                                                double max = 1.);

  static void setSeed(unsigned int seed);

  static void setRandomSeed();
 
protected:
  static const int defaultSeed_;
  ProbabilityLawSimulation() {}
  static std::random_device rd_;
  static std::mt19937 gen_;
};
#include <state-observation/tools/probability-law-simulation.hxx>
} // namespace tools
} // namespace stateObservation
#endif // SENSORSSIMULATIONPROBABILITYLAWSIMULATIONHPP