Using std types instead of boost for Gaussian sampling

[Shobuj-Paul]

Description

Getting rid of boost for sampling from a gaussian distribution and instead using standard library functions, wherever available.

Fixes #2166

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
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[codecov]

Codecov Report

All modified lines are covered by tests ✅

Comparison is base (84d3937) 50.83% compared to head (48fa1ef) 50.34%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2351      +/-   ##
==========================================
- Coverage   50.83%   50.34%   -0.49%     
==========================================
  Files         391      390       -1     
  Lines       32125    31954     -171     
==========================================
- Hits        16328    16084     -244     
- Misses      15797    15870      +73     

see 8 files with indirect coverage changes

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[Shobuj-Paul]

@henningkayser
There isn't a standard function for boost::variate_generator (refer this link).
Can we think of writing our own implementation of variate_generator, or try to patch the gaussian_ variable together with std::bind?

I suppose using the <tr1/random> header does not read as standard library?

[Shobuj-Paul]

I am directly calling the dist_(eng_) for updating output matrix, becasue that is what () operator is doing in variate_generator also as per my understanding. Please review and let me know if that is correct. Also, how do I test if this is working correctly?

[sjahr]

@henningkayser Not sure if the rng initialized with the default value has the desired effect.

[sjahr]

Sorry @Shobuj-Paul I just discover an even simpler way to do this. We had a PR ~1 year ago which unified the use of random number generators across the repository(see the changes for the CHOMP planner as references for STOMP) by using a unified implementation to create a random number generator . It is more performant since creating a random device is computationally expensive. Can you test my suggestions? All that's left to do would be to add <depend>rsl</depend> to the CMakeLists.txt. If that works this PR is finally good to go 😅