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scoutos / scout / scoutsim / src / noise_gen.cpp @ 3a73516c

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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file noise_gen.c
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 * @brief Contains functions that generate noise for scoutsim sensor data
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 *
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 * @ingroup scoutsim
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 *
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 * Uses central limit theorem to generate gaussian noise.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @{
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 **/
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#include "noise_gen.h"
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#include <stdio.h>
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int main()
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{
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  printf("%f \n", add_gaussian_noise(5, 2));
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  printf("%f \n", add_gaussian_noise(5, 2));
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  printf("%f \n", add_gaussian_noise(5, 2));
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  printf("%f \n", add_gaussian_noise(5, 2));
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  printf("%f \n", add_gaussian_noise(5, 2));
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}
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float add_gaussian_noise(float reading, float max_dev)
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{
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  float unit_normal = get_unit_normal_random();
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  return reading + max_dev*unit_normal;
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}
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float get_unit_normal_random()
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{
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  int n=5;
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  float sum;
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  for(int i=0; i<n; i++)
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  {
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    sum += rand()/double(RAND_MAX);
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    printf("%f \t", sum);
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  }
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  sum -= (float)n/2.0;
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  sum *= 2.0/(float)n;
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  return sum;
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}
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/** @} */