| 1 | /************************************************************************* |
|---|
| 2 | * * |
|---|
| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
|---|
| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
|---|
| 5 | * * |
|---|
| 6 | * This library is free software; you can redistribute it and/or * |
|---|
| 7 | * modify it under the terms of EITHER: * |
|---|
| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
|---|
| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
|---|
| 10 | * your option) any later version. The text of the GNU Lesser * |
|---|
| 11 | * General Public License is included with this library in the * |
|---|
| 12 | * file LICENSE.TXT. * |
|---|
| 13 | * (2) The BSD-style license that is included with this library in * |
|---|
| 14 | * the file LICENSE-BSD.TXT. * |
|---|
| 15 | * * |
|---|
| 16 | * This library is distributed in the hope that it will be useful, * |
|---|
| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
|---|
| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
|---|
| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
|---|
| 20 | * * |
|---|
| 21 | *************************************************************************/ |
|---|
| 22 | |
|---|
| 23 | /* miscellaneous math functions. these are mostly useful for testing */ |
|---|
| 24 | |
|---|
| 25 | #ifndef _ODE_MISC_H_ |
|---|
| 26 | #define _ODE_MISC_H_ |
|---|
| 27 | |
|---|
| 28 | #include <ode/common.h> |
|---|
| 29 | |
|---|
| 30 | |
|---|
| 31 | #ifdef __cplusplus |
|---|
| 32 | extern "C" { |
|---|
| 33 | #endif |
|---|
| 34 | |
|---|
| 35 | |
|---|
| 36 | /* return 1 if the random number generator is working. */ |
|---|
| 37 | ODE_API int dTestRand(void); |
|---|
| 38 | |
|---|
| 39 | /* return next 32 bit random number. this uses a not-very-random linear |
|---|
| 40 | * congruential method. |
|---|
| 41 | */ |
|---|
| 42 | ODE_API unsigned long dRand(void); |
|---|
| 43 | |
|---|
| 44 | /* get and set the current random number seed. */ |
|---|
| 45 | ODE_API unsigned long dRandGetSeed(void); |
|---|
| 46 | ODE_API void dRandSetSeed (unsigned long s); |
|---|
| 47 | |
|---|
| 48 | /* return a random integer between 0..n-1. the distribution will get worse |
|---|
| 49 | * as n approaches 2^32. |
|---|
| 50 | */ |
|---|
| 51 | ODE_API int dRandInt (int n); |
|---|
| 52 | |
|---|
| 53 | /* return a random real number between 0..1 */ |
|---|
| 54 | ODE_API dReal dRandReal(void); |
|---|
| 55 | |
|---|
| 56 | /* print out a matrix */ |
|---|
| 57 | #ifdef __cplusplus |
|---|
| 58 | ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ", |
|---|
| 59 | FILE *f=stdout); |
|---|
| 60 | #else |
|---|
| 61 | ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f); |
|---|
| 62 | #endif |
|---|
| 63 | |
|---|
| 64 | /* make a random vector with entries between +/- range. A has n elements. */ |
|---|
| 65 | ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); |
|---|
| 66 | |
|---|
| 67 | /* make a random matrix with entries between +/- range. A has size n*m. */ |
|---|
| 68 | ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); |
|---|
| 69 | |
|---|
| 70 | /* clear the upper triangle of a square matrix */ |
|---|
| 71 | ODE_API void dClearUpperTriangle (dReal *A, int n); |
|---|
| 72 | |
|---|
| 73 | /* return the maximum element difference between the two n*m matrices */ |
|---|
| 74 | ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m); |
|---|
| 75 | |
|---|
| 76 | /* return the maximum element difference between the lower triangle of two |
|---|
| 77 | * n*n matrices */ |
|---|
| 78 | ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); |
|---|
| 79 | |
|---|
| 80 | |
|---|
| 81 | #ifdef __cplusplus |
|---|
| 82 | } |
|---|
| 83 | #endif |
|---|
| 84 | |
|---|
| 85 | #endif |
|---|
