root / scout / scoutsim / src / noise_gen.cpp @ 6257c97d
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1 | 8f030bc3 | Priya | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file noise_gen.c
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28 | * @brief Contains functions that generate noise for scoutsim sensor data
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29 | *
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30 | * Uses central limit theorem to generate gaussian noise.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | * @author Priyanka Deo
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34 | **/
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35 | |||
36 | #include "noise_gen.h" |
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37 | #include <stdio.h> |
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38 | |||
39 | int main()
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40 | { |
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41 | printf("%f \n", add_gaussian_noise(5, 2)); |
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42 | printf("%f \n", add_gaussian_noise(5, 2)); |
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43 | printf("%f \n", add_gaussian_noise(5, 2)); |
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44 | printf("%f \n", add_gaussian_noise(5, 2)); |
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45 | printf("%f \n", add_gaussian_noise(5, 2)); |
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46 | } |
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47 | |||
48 | float add_gaussian_noise(float reading, float max_dev) |
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49 | { |
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50 | float unit_normal = get_unit_normal_random();
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51 | return reading + max_dev*unit_normal;
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52 | } |
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53 | |||
54 | float get_unit_normal_random()
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55 | { |
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56 | int n=5; |
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57 | float sum;
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58 | |||
59 | for(int i=0; i<n; i++) |
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60 | { |
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61 | sum += rand()/double(RAND_MAX);
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62 | printf("%f \t", sum);
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63 | } |
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64 | |||
65 | sum -= (float)n/2.0; |
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66 | sum *= 2.0/(float)n; |
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67 | return sum;
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68 | } |