mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 09:40:34 +08:00
Daniel Agar
107 lines
3.1 KiB
C++
107 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file blocks.h
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*
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* Controller library code
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*/
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#pragma once
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#include <px4_defines.h>
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#include <assert.h>
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#include <time.h>
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#include <stdlib.h>
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#include <math.h>
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#include <mathlib/math/test/test.hpp>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include "block/Block.hpp"
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#include "block/BlockParam.hpp"
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#include "matrix/math.hpp"
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namespace control
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{
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class __EXPORT BlockRandGauss: public Block
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{
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public:
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// methods
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BlockRandGauss(SuperBlock *parent,
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const char *name) :
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Block(parent, name),
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_mean(this, "MEAN"),
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_stdDev(this, "DEV")
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{
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// seed should be initialized somewhere
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// in main program for all calls to rand
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// XXX currently in nuttx if you seed to 0, rand breaks
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};
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virtual ~BlockRandGauss() {};
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float update()
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{
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static float V1, V2, S;
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static int phase = 0;
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float X;
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if (phase == 0) {
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do {
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float U1 = (float)rand() / RAND_MAX;
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float U2 = (float)rand() / RAND_MAX;
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V1 = 2 * U1 - 1;
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V2 = 2 * U2 - 1;
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S = V1 * V1 + V2 * V2;
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} while (S >= 1 || fabsf(S) < 1e-8f);
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X = V1 * float(sqrtf(-2 * float(logf(S)) / S));
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} else {
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X = V2 * float(sqrtf(-2 * float(logf(S)) / S));
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}
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phase = 1 - phase;
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return X * getStdDev() + getMean();
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}
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// accessors
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float getMean() { return _mean.get(); }
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float getStdDev() { return _stdDev.get(); }
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private:
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// attributes
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control::BlockParamFloat _mean;
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control::BlockParamFloat _stdDev;
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};
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} // namespace control
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