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 +
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