| Daniel Petti | 339f88a | 2015-02-07 22:51:20 -0800 | [diff] [blame] | 1 | #include "frc971/control_loops/gaussian_noise.h" |
| 2 | |||||
| 3 | namespace frc971 { | ||||
| 4 | namespace control_loops { | ||||
| 5 | |||||
| 6 | GaussianNoise::GaussianNoise(unsigned int seed, double stddev) | ||||
| 7 | : stddev_(stddev), | ||||
| 8 | generator_(seed), | ||||
| 9 | distribution_(0.0, 1.0) { | ||||
| 10 | // Everything is initialized now. | ||||
| 11 | } | ||||
| 12 | |||||
| 13 | double GaussianNoise::AddNoiseToSample(double sample) { | ||||
| 14 | return sample + (distribution_(generator_) * stddev_); | ||||
| 15 | } | ||||
| 16 | |||||
| 17 | } // namespace control_loops | ||||
| 18 | } // namespace frc971 | ||||