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>

float chaos_scalar;

float gauss_noise( )

{

	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 * M_LOG2E( w ) ) / w );

    y1 = x1 * w;

    y2 = x2 * w;

	return y1;

}

/**

 * @file gauss.h

 * @author Colony Project

 *

 * @brief Generates noise.

 *

 * Uses a Gaussian curve to approximate noise

 * for robots in the simulator.

 **/

#ifndef __GAUSS_H__

#define __GAUSS_H__

float gauss_noise( )

#endif

/**

 * @file gauss.h

 * @author Colony Project

 *

 * @brief Generates noise.

 *

 * Uses a Gaussian curve to approximate noise

 * for robots in the simulator.

 **/

#ifndef __GAUSS_H__

#define __GAUSS_H__

#define SEED 0

extern float chaos_scalar;

float gauss_noise(void);

#endif