Open Dynamics Engine: misc.h Source File

00001 /*************************************************************************
-00002  *                                                                       *
-00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
-00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
-00005  *                                                                       *
-00006  * This library is free software; you can redistribute it and/or         *
-00007  * modify it under the terms of EITHER:                                  *
-00008  *   (1) The GNU Lesser General Public License as published by the Free  *
-00009  *       Software Foundation; either version 2.1 of the License, or (at  *
-00010  *       your option) any later version. The text of the GNU Lesser      *
-00011  *       General Public License is included with this library in the     *
-00012  *       file LICENSE.TXT.                                               *
-00013  *   (2) The BSD-style license that is included with this library in     *
-00014  *       the file LICENSE-BSD.TXT.                                       *
-00015  *                                                                       *
-00016  * This library is distributed in the hope that it will be useful,       *
-00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
-00020  *                                                                       *
-00021  *************************************************************************/
-00022 
-00023 /* miscellaneous math functions. these are mostly useful for testing */
-00024 
-00025 #ifndef _ODE_MISC_H_
-00026 #define _ODE_MISC_H_
-00027 
-00028 #include <ode/common.h>
-00029 
-00030 
-00031 #ifdef __cplusplus
-00032 extern "C" {
-00033 #endif
-00034 
-00035 
-00036 /* return 1 if the random number generator is working. */
-00037 ODE_API int dTestRand(void);
-00038 
-00039 /* return next 32 bit random number. this uses a not-very-random linear
-00040  * congruential method.
-00041  */
-00042 ODE_API unsigned long dRand(void);
-00043 
-00044 /* get and set the current random number seed. */
-00045 ODE_API unsigned long  dRandGetSeed(void);
-00046 ODE_API void dRandSetSeed (unsigned long s);
-00047 
-00048 /* return a random integer between 0..n-1. the distribution will get worse
-00049  * as n approaches 2^32.
-00050  */
-00051 ODE_API int dRandInt (int n);
-00052 
-00053 /* return a random real number between 0..1 */
-00054 ODE_API dReal dRandReal(void);
-00055 
-00056 /* print out a matrix */
-00057 #ifdef __cplusplus
-00058 ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
-00059          FILE *f=stdout);
-00060 #else
-00061 ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
-00062 #endif
-00063 
-00064 /* make a random vector with entries between +/- range. A has n elements. */
-00065 ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
-00066 
-00067 /* make a random matrix with entries between +/- range. A has size n*m. */
-00068 ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
-00069 
-00070 /* clear the upper triangle of a square matrix */
-00071 ODE_API void dClearUpperTriangle (dReal *A, int n);
-00072 
-00073 /* return the maximum element difference between the two n*m matrices */
-00074 ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
-00075 
-00076 /* return the maximum element difference between the lower triangle of two
-00077  * n*n matrices */
-00078 ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
-00079 
-00080 
-00081 #ifdef __cplusplus
-00082 }
-00083 #endif
-00084 
-00085 #endif
-