Colony

/**

 * @file gauss.c

 * @author Colony Project

 *

 * @brief Generates noise.

 *

 * Uses a Gaussian curve to approximate noise

 * for robots in the simulator.

 **/

#include <stdlib.h>

#include <math.h>

#include "gauss.h"

float chaos_scalar;

float gauss_noise(void)

{

    float x1, x2, w, y1, y2;

    srand( SEED );

    do 

    {

        x1 = 2.0 * rand()/RAND_MAX - 1.0;

        x2 = 2.0 * rand()/RAND_MAX - 1.0;

        w = x1 * x1 + x2 * x2;

    } while ( w >= 1.0 );

    w = sqrt( (-2.0 * log( w ) ) / w );

    return (x1 * w);

}