PX4 Firmware
PX4 Autopilot Software http://px4.io
BlockRandUniform.hpp
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33 
34 /**
35  * @file blocks.h
36  *
37  * Controller library code
38  */
39 
40 #pragma once
41 
42 #include <px4_platform_common/defines.h>
43 #include <assert.h>
44 #include <time.h>
45 #include <stdlib.h>
46 #include <math.h>
49 
50 #include "block/Block.hpp"
51 #include "block/BlockParam.hpp"
52 
53 #include "matrix/math.hpp"
54 
55 namespace control
56 {
57 
58 /**
59  * A uniform random number generator
60  */
62 {
63 public:
64 // methods
66  const char *name) :
67  Block(parent, name),
68  _min(this, "MIN"),
69  _max(this, "MAX")
70  {
71  // seed should be initialized somewhere
72  // in main program for all calls to rand
73  // XXX currently in nuttx if you seed to 0, rand breaks
74  }
75  virtual ~BlockRandUniform() = default;
76  float update()
77  {
78  static float rand_max = RAND_MAX;
79  float rand_val = rand();
80  float bounds = getMax() - getMin();
81  return getMin() + (rand_val * bounds) / rand_max;
82  }
83 // accessors
84  float getMin() { return _min.get(); }
85  float getMax() { return _max.get(); }
86 private:
87 // attributes
90 };
91 
92 } // namespace control
BlockRandUniform(SuperBlock *parent, const char *name)
Definition: I2C.hpp:51
Controller library code.
Controller library code.
Controller library code.
const char * name
Definition: tests_main.c:58
control::BlockParamFloat _min
A uniform random number generator.
control::BlockParamFloat _max