stochastic.h File Reference

#include <memory>
#include <type_traits>
#include <variant>
#include <vector>
#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/eigen_types.h"
#include "drake/common/name_value.h"
#include "drake/common/random.h"
#include "drake/common/symbolic/expression.h"

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Classes
class	Distribution
	Base class for a single distribution, to be used with YAML archives. More...
class	Deterministic
	A single deterministic value. More...
class	Gaussian
	A gaussian distribution with mean and stddev. More...
class	Uniform
	A uniform distribution with min inclusive and max exclusive. More...
class	UniformDiscrete
	Chooses from among discrete values with equal probability. More...
class	DistributionVector
	Base class for a vector of distributions, to be used with YAML archives. More...
class	DeterministicVector< Size >
	A single deterministic vector value. More...
class	GaussianVector< Size >
	A gaussian distribution with vector mean and vector or scalar stddev. More...
class	UniformVector< Size >
	A uniform distribution with vector min inclusive and vector max exclusive. More...

Namespaces
	drake
	drake::schema

Macros
#define	DRAKE_DECLARE_TEMPLATE_INSTANTIATIONS_ON_ALL_SIZES(Func)

Typedefs
using	DistributionVariant = std::variant< double, Deterministic, Gaussian, Uniform, UniformDiscrete >
	Variant over all kinds of distributions. More...
template<int Size>
using	DistributionVectorVariant = std::variant< drake::Vector< double, Size >, DeterministicVector< Size >, GaussianVector< Size >, UniformVector< Size >, std::conditional_t<(Size==Eigen::Dynamic||Size==1), Deterministic, internal::InvalidVariantSelection< Deterministic > >, std::conditional_t<(Size==Eigen::Dynamic||Size==1), Gaussian, internal::InvalidVariantSelection< Gaussian > >, std::conditional_t<(Size==Eigen::Dynamic||Size==1), Uniform, internal::InvalidVariantSelection< Uniform > >>
	Variant over all kinds of vector distributions. More...
using	DistributionVectorVariantX = DistributionVectorVariant< Eigen::Dynamic >
	DistributionVectorVariant that permits any vector size dynamically. More...

Functions
std::unique_ptr< Distribution >	ToDistribution (const DistributionVariant &var)
	Copies the given variant into a Distribution base class. More...
double	Sample (const DistributionVariant &var, drake::RandomGenerator *generator)
	Like Distribution::Sample, but on a DistributionVariant instead. More...
double	Mean (const DistributionVariant &var)
	Like Distribution::Mean, but on a DistributionVariant instead. More...
drake::symbolic::Expression	ToSymbolic (const DistributionVariant &var)
	Like Distribution::ToSymbolic, but on a DistributionVariant instead. More...
Eigen::VectorXd	Sample (const std::vector< DistributionVariant > &vec, drake::RandomGenerator *generator)
	Like Distribution::Sample, but elementwise over a collection of possibly-heterogenous DistributionVariant instead. More...
Eigen::VectorXd	Mean (const std::vector< DistributionVariant > &vec)
	Like Distribution::Mean, but elementwise over a collection of possibly-heterogenous DistributionVariant instead. More...
drake::VectorX< drake::symbolic::Expression >	ToSymbolic (const std::vector< DistributionVariant > &vec)
	Like Distribution::ToSymbolic, but elementwise over a collection of possibly-heterogenous DistributionVariant instead. More...
bool	IsDeterministic (const DistributionVariant &var)
	Returns true iff var is set to a deterministic value. More...
double	GetDeterministicValue (const DistributionVariant &var)
	If var is deterministic, retrieves its value. More...
template<int Size>
std::unique_ptr< DistributionVector >	ToDistributionVector (const DistributionVectorVariant< Size > &vec)
	Copies the given variant into a DistributionVector base class. More...
template<int Size>
bool	IsDeterministic (const DistributionVectorVariant< Size > &vec)
	Returns true iff all of vec's elements are set to a deterministic value. More...
template<int Size>
Eigen::VectorXd	GetDeterministicValue (const DistributionVectorVariant< Size > &vec)
	If vec is deterministic, retrieves its value. More...

Macro Definition Documentation

DRAKE_DECLARE_TEMPLATE_INSTANTIATIONS_ON_ALL_SIZES

#define DRAKE_DECLARE_TEMPLATE_INSTANTIATIONS_ON_ALL_SIZES

(

Func

)

Value:

extern template Func(const DistributionVectorVariantX&); \
  extern template Func(const DistributionVectorVariant<1>&); \
  extern template Func(const DistributionVectorVariant<2>&); \
  extern template Func(const DistributionVectorVariant<3>&); \
  extern template Func(const DistributionVectorVariant<4>&); \
  extern template Func(const DistributionVectorVariant<5>&); \
  extern template Func(const DistributionVectorVariant<6>&);