| Daniel Petti | 339f88a | 2015-02-07 22:51:20 -0800 | [diff] [blame] | 1 | #include "frc971/control_loops/gaussian_noise.h" |
| 2 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 3 | namespace frc971::control_loops { |
| Daniel Petti | 339f88a | 2015-02-07 22:51:20 -0800 | [diff] [blame] | 4 | |
| 5 | GaussianNoise::GaussianNoise(unsigned int seed, double stddev) |
| Philipp Schrader | 790cb54 | 2023-07-05 21:06:52 -0700 | [diff] [blame] | 6 | : stddev_(stddev), generator_(seed), distribution_(0.0, 1.0) { |
| Daniel Petti | 339f88a | 2015-02-07 22:51:20 -0800 | [diff] [blame] | 7 | // Everything is initialized now. |
| 8 | } |
| 9 | |
| 10 | double GaussianNoise::AddNoiseToSample(double sample) { |
| 11 | return sample + (distribution_(generator_) * stddev_); |
| 12 | } |
| 13 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 14 | } // namespace frc971::control_loops |