Visual Servoing Platform version 3.6.0
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vpGaussRand.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Generation of random number with uniform and normal probability density.
33 *
34*****************************************************************************/
35
36#include <math.h>
37#include <visp3/core/vpGaussRand.h>
38
46double vpGaussRand::gaussianDraw()
47{
48 if (m_AlreadyDone) {
49 m_AlreadyDone = false;
50 return m_x2;
51 }
52
53 else {
54 double v1 = 0, v2 = 0, rsq = 0;
55 do {
56 v1 = 2 * m_rng.uniform(0.0, 1.0) - 1;
57 v2 = 2 * m_rng.uniform(0.0, 1.0) - 1;
58 rsq = v1 * v1 + v2 * v2;
59 } while (rsq >= 1);
60
61 double fac = sqrt(-2 * log(rsq) / rsq);
62 m_x2 = v2 * fac;
63 m_AlreadyDone = true;
64 return v1 * fac;
65 }
66}
int uniform(int a, int b)