FHWS/Indoor
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refactored random subsystem

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added compile-time seed support
This commit is contained in:
FrankE
2016-04-26 15:15:28 +02:00
parent 8f6bfa917f
commit 62d8d6b36b
17 changed files with 163 additions and 29 deletions
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3
grid/walk/GridWalkLightAtTheEndOfTheTunnel.h
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@@ -6,6 +6,7 @@
#include "../../math/DrawList.h"
#include "../../math/Distributions.h"
#include "../../math/DrawList.h"
#include "../../nav/dijkstra/Dijkstra.h"
@@ -34,7 +35,7 @@ private:
DrawList<T&> drawer;
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

2
grid/walk/GridWalkPathControl.h
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@@ -23,7 +23,7 @@ private:
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

3
grid/walk/GridWalkPushForward.h
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@@ -8,6 +8,7 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include "../../math/Random.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "GridWalkState.h"
@@ -31,7 +32,7 @@ private:
static constexpr float HEADING_ALLOWED_SIGMA = Angle::degToRad(20);
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

4
grid/walk/GridWalkRandomHeadingUpdate.h
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@@ -4,6 +4,8 @@
#include "../../geo/Heading.h"
#include "../Grid.h"
#include "../../math/Random.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "GridWalk.h"
@@ -33,7 +35,7 @@ private:
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

3
grid/walk/GridWalkRandomHeadingUpdateAdv.h
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@@ -8,6 +8,7 @@
#include "../../math/DrawList.h"
#include "../../math/Distributions.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "../../math/Random.h"
#include "GridWalk.h"
#include "GridWalkState.h"
@@ -34,7 +35,7 @@ private:
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

5
grid/walk/GridWalkShortestPathControl.h
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@@ -7,6 +7,7 @@
#include "../../math/Distributions.h"
#include "../../math/DrawList.h"
#include "../../math/Random.h"
#include "../../nav/dijkstra/Dijkstra.h"
#include "../../nav/dijkstra/DijkstraPath.h"
@@ -17,6 +18,8 @@
#include "GridWalkHelper.h"
#include "GridWalk.h"
#include <KLib/math/statistics/Statistics.h>
template <typename T> class GridWalkShortestPathControl : public GridWalk<T> {
@@ -76,7 +79,7 @@ protected:
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

3
grid/walk/GridWalkSimpleControl.h
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@@ -8,6 +8,7 @@
#include "../../math/Distributions.h"
#include "../../math/DrawList.h"
#include "../../math/Random.h"
#include "GridWalkState.h"
#include "GridWalkHelper.h"
@@ -23,7 +24,7 @@ private:
static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

3
grid/walk/GridWalkWeighted.h
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@@ -6,6 +6,7 @@
#include "../../math/DrawList.h"
#include "../../math/Distributions.h"
#include "../../math/DrawList.h"
/**
* perform walks on the grid based on some sort of weighting
@@ -38,7 +39,7 @@ private:
DrawList<T&> drawer;
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

6
grid/walk/GridWalkWeighted2.h
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@@ -5,7 +5,9 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include <KLib/math/distribution/Normal.h>
#include "../../math/Random.h"
//#include <KLib/math/distribution/Normal.h>
/**
* perform walks on the grid based on some sort of weighting
@@ -38,7 +40,7 @@ private:
DrawList<T&> drawer;
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

6
grid/walk/TestWalkWeighted3.h
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@@ -5,7 +5,9 @@
#include "../Grid.h"
#include "../../math/DrawList.h"
#include <KLib/math/distribution/Normal.h>
#include "../../math/Random.h"
//#include <KLib/math/distribution/Normal.h>
/**
* perform walks on the grid based on some sort of weighting
@@ -38,7 +40,7 @@ private:
DrawList<T&> drawer;
/** fast random-number-generator */
std::minstd_rand gen;
RandomGenerator gen;
/** 0-mean normal distribution */
std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);

4
math/DrawList.h
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@@ -2,8 +2,8 @@
#define DRAWLIST_H
#include <vector>
#include <random>
#include "Random.h"
#include "../Assertions.h"
/**
@@ -38,7 +38,7 @@ private:
std::vector<Entry> elements;
/** random number generator */
std::minstd_rand gen;
RandomGenerator gen;
public:

28
math/Random.h Normal file
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@@ -0,0 +1,28 @@
#ifndef RANDOM_H
#define RANDOM_H
#include <cmath>
#include <random>
#include "../misc/Time.h"
#ifdef USE_FIXED_SEED
#define RANDOM_SEED 1234
#else
#define RANDOM_SEED ( std::chrono::system_clock::now().time_since_epoch() / std::chrono::milliseconds(1) )
#endif
//using RandomGenerator = std::minstd_rand;
class RandomGenerator : public std::minstd_rand {
public:
/** ctor with default seed */
RandomGenerator() : std::minstd_rand(RANDOM_SEED) {;}
/** ctor with custom seed */
RandomGenerator(result_type) : std::minstd_rand(RANDOM_SEED) {;}
};
#endif // RANDOM_H

6
math/distribution/Exponential.h
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@@ -3,7 +3,7 @@
#include <cmath>
#include <random>
#include "../Random.h"
namespace Distribution {
@@ -14,13 +14,13 @@ namespace Distribution {
const T lambda;
std::minstd_rand gen;
RandomGenerator gen;
std::exponential_distribution<T> dist;
public:
/** ctor */
Exponential(const T lambda) : lambda(lambda), dist(lambda) {
Exponential(const T lambda) : lambda(lambda), gen(RANDOM_SEED), dist(lambda) {
;
}

5
math/distribution/Normal.h
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@@ -3,6 +3,7 @@
#include <cmath>
#include <random>
#include "../Random.h"
namespace Distribution {
@@ -15,14 +16,14 @@ namespace Distribution {
const T sigma;
const T _a;
std::minstd_rand gen;
RandomGenerator gen;
std::normal_distribution<T> dist;
public:
/** ctor */
Normal(const T mu, const T sigma) :
mu(mu), sigma(sigma), _a(1.0 / (sigma * std::sqrt(2.0 * M_PI))), gen(1234), dist(mu,sigma) {
mu(mu), sigma(sigma), _a(1.0 / (sigma * std::sqrt(2.0 * M_PI))), gen(RANDOM_SEED), dist(mu,sigma) {
}

14
math/distribution/Uniform.h
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@@ -3,6 +3,9 @@
#include <cmath>
#include <random>
#include "../Random.h"
#include <type_traits>
namespace Distribution {
@@ -11,14 +14,17 @@ namespace Distribution {
private:
std::minstd_rand gen;
std::uniform_real_distribution<T> dist;
RandomGenerator gen;
/** depending on T, Dist is either a uniform_real or uniform_int distribution */
typedef typename std::conditional< std::is_floating_point<T>::value, std::uniform_real_distribution<T>, std::uniform_int_distribution<T> >::type Dist;
Dist dist;
public:
/** ctor */
Uniform(const T min, const T max) :
gen(1234), dist(min, max) {
Uniform(const T min, const T max) : gen(RANDOM_SEED), dist(min, max) {
}
/** get a uniformaly distributed random number */

12
tests/geo/TestHeading.cpp
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@@ -52,13 +52,13 @@ TEST(Heading, eq) {
}
TEST(Heading, random) {
//TEST(Heading, random) {
// two random values must not be equal
ASSERT_NE(Heading::rnd(), Heading::rnd());
ASSERT_NE(Heading::rnd(), Heading::rnd());
ASSERT_NE(Heading::rnd(), Heading::rnd());
// // two random values must not be equal
// ASSERT_NE(Heading::rnd(), Heading::rnd());
// ASSERT_NE(Heading::rnd(), Heading::rnd());
// ASSERT_NE(Heading::rnd(), Heading::rnd());
}
//}
#endif

85
tests/math/TestDistribution.cpp
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@@ -2,6 +2,26 @@
#include "../Tests.h"
#include "../../math/Distributions.h"
#include "../../misc/Time.h"
template <typename Dist> void benchDist(Dist dist) {
const int cnt = 1024*1024*32;
float f = 0;
auto tick = Time::tick();
for (int i = 0; i < cnt; ++i) {
f = dist.getProbability(f);
}
auto tock = Time::tick();
std::cout.imbue(std::locale("en_US.UTF-8"));
std::cout << (cnt / (Time::diffMS(tick, tock)+1) * 1000) << "/sec" << std::endl;
}
TEST(Distribution, Exp) {
@@ -15,4 +35,69 @@ TEST(Distribution, Exp) {
}
TEST(Distribution, Exp_Performance) {
Distribution::Exponential<float> dist(0.5);
benchDist(dist);
}
TEST(Distribution, BesselHelper) {
Distribution::Bessel<float> bessel;
const float delta = 0.001;
ASSERT_NEAR( 1.0, bessel.getModified(0, 0), delta);
ASSERT_NEAR(11.3, bessel.getModified(0, +4), 0.1);
ASSERT_NEAR(11.3, bessel.getModified(0, -4), 0.1);
}
TEST(Distribution, VonMises) {
Distribution::VonMises<float> dist4(0, 4);
Distribution::VonMises<float> dist2(0, 2);
Distribution::VonMises<float> dist1(0, 1);
Distribution::VonMises<float> dist05(0, 0.5);
const float delta = 0.01;
ASSERT_NEAR(0.768f, dist4.getProbability(0.0f), delta);
ASSERT_NEAR(0.515f, dist2.getProbability(0.0f), delta);
ASSERT_NEAR(0.342f, dist1.getProbability(0.0f), delta);
ASSERT_NEAR(0.24f, dist05.getProbability(0.0f), delta);
}
//#include <fstream>
//TEST(Distribution, VonMisesDump) {
// Distribution::VonMises<float> dist1(0, 4.0);
// auto dist2 = dist1.getLUT();
// std::ofstream f1("/tmp/1.dat");
// std::ofstream f2("/tmp/2.dat");
// for (float i = -4; i <= +4; i += 0.001) {
// f1 << i << " " << dist1.getProbability(i) << std::endl;
// f2 << i << " " << dist2.getProbability(i) << std::endl;
// }
// f1.close();
// f2.close();
//}
TEST(Distribution, VonMises_Performance) {
Distribution::VonMises<float> dist(0, 2.0);
benchDist(dist);
}
TEST(Distribution, VonMisesLUT_Performance) {
Distribution::VonMises<float> src(0, 2.0);
auto dist = src.getLUT();
benchDist(dist);
}
#endif