random.hpp

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#pragma once
 
#include <rsl/export.hpp>
 
#include <Eigen/Geometry>
#include <cassert>
#include <random>
#include <type_traits>
 
namespace rsl {
 
RSL_EXPORT auto rng(std::seed_seq seed_sequence = {}) -> std::mt19937&;
 
template <typename RealType>
[[nodiscard]] auto uniform_real(RealType lower, RealType upper) {
    static_assert(std::is_floating_point_v<RealType>, "RealType must be a floating point type");
    assert(lower < upper && "rsl::uniform_real: Lower bound be less than upper bound");
    return std::uniform_real_distribution(lower, upper)(rng());
}
 
template <typename IntType>
[[nodiscard]] auto uniform_int(IntType lower, IntType upper) {
    static_assert(std::is_integral_v<IntType>, "IntType must be an integral type");
    assert(lower <= upper &&
           "rsl::uniform_int: Lower bound must be less than or equal to upper bound");
    return std::uniform_int_distribution(lower, upper)(rng());
}
 
[[nodiscard]] RSL_EXPORT auto random_unit_quaternion() -> Eigen::Quaterniond;
 
}  // namespace rsl