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authordan miller2007-10-19 05:15:33 +0000
committerdan miller2007-10-19 05:15:33 +0000
commit79eca25c945a535a7a0325999034bae17da92412 (patch)
tree40ff433d94859d629aac933d5ec73b382f62ba1a /libraries/ode-0.9/include/ode/misc.h
parentadding ode source to /libraries (diff)
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resubmitting ode
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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
32extern "C" {
33#endif
34
35
36/* return 1 if the random number generator is working. */
37ODE_API int dTestRand(void);
38
39/* return next 32 bit random number. this uses a not-very-random linear
40 * congruential method.
41 */
42ODE_API unsigned long dRand(void);
43
44/* get and set the current random number seed. */
45ODE_API unsigned long dRandGetSeed(void);
46ODE_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 */
51ODE_API int dRandInt (int n);
52
53/* return a random real number between 0..1 */
54ODE_API dReal dRandReal(void);
55
56/* print out a matrix */
57#ifdef __cplusplus
58ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
59 FILE *f=stdout);
60#else
61ODE_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. */
65ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
66
67/* make a random matrix with entries between +/- range. A has size n*m. */
68ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
69
70/* clear the upper triangle of a square matrix */
71ODE_API void dClearUpperTriangle (dReal *A, int n);
72
73/* return the maximum element difference between the two n*m matrices */
74ODE_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 */
78ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
79
80
81#ifdef __cplusplus
82}
83#endif
84
85#endif