From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 6 Mar 2019 13:08:36 +0000 (+0100)
Subject: Add random engine to RRTBase
X-Git-Tag: v0.6.0~15^2~9
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/0d7eb699ac32578f97a5659a89f1d3b9a525ef24

Add random engine to RRTBase
---

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 2331037..d074418 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -85,7 +85,8 @@ RRTBase::~RRTBase()
 
 RRTBase::RRTBase():
         root_(new RRTNode()),
-        goal_(new RRTNode())
+        goal_(new RRTNode()),
+        gen_(std::random_device{}())
 {
         this->nodes_.reserve(NOFNODES);
         this->nodes_.push_back(this->root_);
@@ -95,7 +96,8 @@ RRTBase::RRTBase():
 
 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
         root_(init),
-        goal_(goal)
+        goal_(goal),
+        gen_(std::random_device{}())
 {
         this->nodes_.reserve(NOFNODES);
         this->nodes_.push_back(init);
diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 347fbb9..98b4cee 100644
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -21,6 +21,7 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include <chrono>
 #include <cmath>
 #include <pthread.h>
+#include <random>
 #include <vector>
 #include "obstacle.h"
 #include "rrtnode.h"
@@ -76,6 +77,8 @@ class RRTBase {
                 std::vector<float> slog_; // seconds of trajectories
                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
+
+                std::default_random_engine gen_;
         public:
                 const float GOAL_FOUND_DISTANCE = 0.2;
                 const float GOAL_FOUND_ANGLE = M_PI / 32;