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remove Rand.* and <random> (no C++11)

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This commit is contained in:
erwincoumans
2019-01-23 17:35:45 -08:00
parent 03549ca7c6
commit e637b24237
5 changed files with 4 additions and 309 deletions
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113
examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
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@@ -3,7 +3,6 @@
#define _USE_MATH_DEFINES
#include <math.h>
cRand cMathUtil::gRand = cRand();
int cMathUtil::Clamp(int val, int min, int max)
{
@@ -45,69 +44,6 @@ double cMathUtil::NormalizeAngle(double theta)
return norm_theta;
}
double cMathUtil::RandDouble()
{
return RandDouble(0, 1);
}
double cMathUtil::RandDouble(double min, double max)
{
return gRand.RandDouble(min, max);
}
double cMathUtil::RandDoubleNorm(double mean, double stdev)
{
return gRand.RandDoubleNorm(mean, stdev);
}
double cMathUtil::RandDoubleExp(double lambda)
{
return gRand.RandDoubleExp(lambda);
}
double cMathUtil::RandDoubleSeed(double seed)
{
unsigned int int_seed = *reinterpret_cast<unsigned int*>(&seed);
std::default_random_engine rand_gen(int_seed);
std::uniform_real_distribution<double> dist;
return dist(rand_gen);
}
int cMathUtil::RandInt()
{
return gRand.RandInt();
}
int cMathUtil::RandInt(int min, int max)
{
return gRand.RandInt(min, max);
}
int cMathUtil::RandUint()
{
return gRand.RandUint();
}
int cMathUtil::RandUint(unsigned int min, unsigned int max)
{
return gRand.RandUint(min, max);
}
int cMathUtil::RandIntExclude(int min, int max, int exc)
{
return gRand.RandIntExclude(min, max, exc);
}
void cMathUtil::SeedRand(unsigned long int seed)
{
gRand.Seed(seed);
srand(gRand.RandInt());
}
int cMathUtil::RandSign()
{
return gRand.RandSign();
}
double cMathUtil::SmoothStep(double t)
{
@@ -115,10 +51,6 @@ double cMathUtil::SmoothStep(double t)
return val;
}
bool cMathUtil::FlipCoin(double p)
{
return gRand.FlipCoin(p);
}
tMatrix cMathUtil::TranslateMat(const tVector& trans)
{
@@ -665,26 +597,6 @@ double cMathUtil::Sigmoid(double x, double gamma, double bias)
return val;
}
int cMathUtil::SampleDiscreteProb(const Eigen::VectorXd& probs)
{
assert(std::abs(probs.sum() - 1) < 0.00001);
double rand = RandDouble();
int rand_idx = gInvalidIdx;
int num_probs = static_cast<int>(probs.size());
for (int i = 0; i < num_probs; ++i)
{
double curr_prob = probs[i];
rand -= curr_prob;
if (rand <= 0)
{
rand_idx = i;
break;
}
}
return rand_idx;
}
tVector cMathUtil::CalcBarycentric(const tVector& p, const tVector& a, const tVector& b, const tVector& c)
{
@@ -791,32 +703,7 @@ bool cMathUtil::CheckNextInterval(double delta, double curr_val, double int_size
return new_action;
}
tVector cMathUtil::SampleRandPt(const tVector& bound_min, const tVector& bound_max)
{
tVector pt = tVector(RandDouble(bound_min[0], bound_max[0]),
RandDouble(bound_min[1], bound_max[1]),
RandDouble(bound_min[2], bound_max[2]), 0);
return pt;
}
tVector cMathUtil::SampleRandPtBias(const tVector& bound_min, const tVector& bound_max)
{
return SampleRandPtBias(bound_min, bound_max, 0.5 * (bound_max + bound_min));
}
tVector cMathUtil::SampleRandPtBias(const tVector& bound_min, const tVector& bound_max, const tVector& focus)
{
double t = RandDouble(0, 1);
tVector size = bound_max - bound_min;
tVector new_min = focus + (t * 0.5) * size;
tVector new_max = focus - (t * 0.5) * size;
tVector offset = (bound_min - new_min).cwiseMax(0);
offset += (bound_max - new_max).cwiseMin(0);
new_min += offset;
new_max += offset;
return SampleRandPt(new_min, new_max);
}
void cMathUtil::QuatSwingTwistDecomposition(const tQuaternion& q, const tVector& dir, tQuaternion& out_swing, tQuaternion& out_twist)
{