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"

double chaos_scalar;

void gauss_init(double chaos, unsigned int seed)

{

    chaos_scalar = chaos;

    srand(seed);

}

double gauss_noise(void)

{

    double x1, x2, w, y1, y2;

    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 = sqrtf( (-2.0 * logf( w ) ) / w );

    return chaos_scalar*x1*w;

}