generator.cpp

基于vc 的环境下机器人自主避障的算法 图形处理 具有载物功能

//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// Generator.cpp: implementation of the CGenerator class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "simulator.h"
#include "Generator.h"
#include <math.h>

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

#define M1 259200
#define IA1 7141
#define IC1 54773
#define RM1 (1.0/M1)
#define M2 134456
#define IA2 8121
#define IC2 28411
#define RM2 (1.0/M2)
#define M3 243000
#define IA3 4561
#define IC3 51349

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

CGenerator::CGenerator()
{
	m_seed = ( (time( NULL ) + (int) this) % 5000 );

	iff = 0;
	iset = 0;
}

CGenerator::~CGenerator()
{

}

double CGenerator::GetNumber()
{
	return 0;
}



double CGenerator::ran1(int *idum)
{
	double temp;
	int j;

	if (*idum < 0 || iff == 0) {
		iff=1;
		ix1=(IC1-(*idum)) % M1;
		ix1=(IA1*ix1+IC1) % M1;
		ix2=ix1 % M2;
		ix1=(IA1*ix1+IC1) % M1;
		ix3=ix1 % M3;
		for (j=1;j<=97;j++) {
			ix1=(IA1*ix1+IC1) % M1;
			ix2=(IA2*ix2+IC2) % M2;
			r[j]=(ix1+ix2*RM2)*RM1;
		}
		*idum=1;
	}
	ix1=(IA1*ix1+IC1) % M1;
	ix2=(IA2*ix2+IC2) % M2;
	ix3=(IA3*ix3+IC3) % M3;
	j=1 + ((97*ix3)/M3);
	if (j > 97 || j < 1) TRACE("RAN1: This cannot happen.");
	temp=r[j];
	r[j]=(ix1+ix2*RM2)*RM1;
	return temp;
}

double CGenerator::gasdev(int *idum)
{
	double fac,r,v1,v2;

	if  (iset == 0) {
		do {
			v1=2.0*ran1(idum)-1.0;
			v2=2.0*ran1(idum)-1.0;
			r=v1*v1+v2*v2;
		} while (r >= 1.0);
		fac=sqrt(-2.0*log(r)/r);
		gset=v1*fac;
		iset=1;
		return v2*fac;
	} else {
		iset=0;
		return gset;
	}
}