Program Listing for File dither.hpp
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// Copyright (c) 2009, Willow Garage, Inc.
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// \author Kevin Watts
#ifndef CONTROL_TOOLBOX__DITHER_HPP_
#define CONTROL_TOOLBOX__DITHER_HPP_
#include <math.h>
#include <cstdlib>
#include <ctime>
#include <random>
#include "rcutils/logging_macros.h"
namespace control_toolbox
{
/***************************************************/
class Dither
{
public:
Dither();
double update();
/*
*\brief Dither gets an amplitude, must be >0 to initialize
*
*\param amplitude Amplitude of white noise output
*\param seed Random seed for white noise
*/
bool init(const double & amplitude, const double & seed)
{
if (amplitude < 0.0) {
RCUTILS_LOG_ERROR("Dither amplitude not set properly. Amplitude must be >0.");
return false;
}
amplitude_ = amplitude;
// seed generator for reproducible sequence of random numbers
generator_.seed(static_cast<unsigned int>(seed));
return true;
}
/*
*\brief Generate a random number with random_device for non-deterministic random numbers
*/
static double generateRandomSeed()
{
std::random_device rdev{};
return static_cast<double>(rdev());
}
private:
double amplitude_;
double saved_value_;
bool has_saved_value_;
std::mt19937 generator_;
};
} // namespace control_toolbox
#endif // CONTROL_TOOLBOX__DITHER_HPP_