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94 lines
2.2 KiB
94 lines
2.2 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/noise/noise.ipp
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* \author Boris Houska, Hans Joachim Ferreau
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* \date 24.08.2008
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*/
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BEGIN_NAMESPACE_ACADO
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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inline uint Noise::getDim( ) const
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{
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return w.getNumValues( );
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}
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inline BooleanType Noise::isEmpty( ) const
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{
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if ( getDim( ) == 0 )
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return BT_TRUE;
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else
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return BT_FALSE;
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}
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inline BlockStatus Noise::getStatus( ) const
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{
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return status;
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}
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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inline returnValue Noise::setStatus( BlockStatus _status
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)
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{
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status = _status;
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return SUCCESSFUL_RETURN;
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}
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inline double Noise::getUniformRandomNumber( double _lowerLimit,
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double _upperLimit
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) const
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{
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double halfAmplitude = ( _upperLimit - _lowerLimit ) / 2.0;
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/* Random number between -RAND_MAX and RAND_MAX */
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int randomNumber = ( rand( ) - RAND_MAX/2 ) * 2;
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/* Random number between -1 and 1 */
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double scaledRandomNumber = ((double) randomNumber) / ((double) RAND_MAX);
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return ( halfAmplitude*scaledRandomNumber + _lowerLimit+halfAmplitude );
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}
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CLOSE_NAMESPACE_ACADO
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// end of file.
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