bool Random::metropolis(double ratio) {
if (ratio > 1.0) {
return true;
} else {
double ran = uniformReal();
if (ran < ratio) {
return true;
} else {
return false;
}
}
}
// See: http://math.stackexchange.com/a/87238
void ompl::RNG::uniformInBall(double r, unsigned int n, double value[])
{
// Draw a random point on the unit sphere
uniformNormalVector(n, value);
// Draw a random radius scale
double radiusScale = r * std::pow(uniformReal(0.0, 1.0), 1.0 / static_cast<double>(n));
// Scale the point on the unit sphere
for (unsigned int i = 0u; i < n; ++i)
{
value[i] = radiusScale * value[i];
}
}
Vector3D Random::randomVector(Vector3D min, Vector3D max) {
return Vector3D(uniformReal(min.x, max.x),
uniformReal(min.y, max.y),
uniformReal(min.z, max.z));
}
Vector3D Random::randomVector() {
return Vector3D(uniformReal(),
uniformReal(),
uniformReal());
}