Revision 8f030bc3
Commiting pseudo-Gaussian random noise generator. Tested and works.
scout/libscout/CMakeLists.txt | ||
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#rosbuild_add_executable(example examples/example.cpp) |
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#target_link_libraries(example ${PROJECT_NAME}) |
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rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp src/WirelessSender.cpp) |
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set(MAIN_FILES src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp) |
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set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp) |
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set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp src/WirelessSender.cpp) |
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rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${CONTROL_CLASSES}) |
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rosbuild_add_executable(test_encoders src/test_encoders.cpp) |
scout/libscout/src/BehaviorList.cpp | ||
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4 | 4 |
{ |
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behavior_list.push_back((Behavior*)new draw_cw_circle(scoutname)); |
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behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname)); |
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behavior_list.push_back((Behavior*)new Odometry(scoutname)); |
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return; |
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} |
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scout/scoutsim/src/noise_gen.cpp | ||
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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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* 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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#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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} |
scout/scoutsim/src/noise_gen.h | ||
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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 |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* 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.h |
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* @brief Contains function declarations for generating noise for |
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* scoutsim sensor data |
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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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#ifndef _NOISE_GEN_H_ |
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#define _NOISE_GEN_H_ |
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#include <stdlib.h> |
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#include <math.h> |
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float add_gaussian_noise(float reading, float max_dev); |
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float get_unit_normal_random(); |
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#endif |
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