Robot Simulator of the Robotics Group for Self-Organization of Control: mac_drand48r.h Source File

# mac_drand48r.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __MACDRAND48_R_H
    00025 #define __MACDRAND48_R_H
    00026
    00027 #include <stdlib.h>
    00028
    00029 #include <limits.h>
    00030 #ifndef WIN32
    00031 #include <mach/mach.h>
    00032 #endif
    00033
    00034 union ieee754_double
    00035   {
    00036     double d;
    00037
    00038     /* This is the IEEE 754 double-precision format.  */
    00039     struct
    00040       {
    00041         /* Together these comprise the mantissa.  */
    00042         unsigned int mantissa1:32;
    00043         unsigned int mantissa0:20;
    00044         unsigned int exponent:11;
    00045         unsigned int negative:1;
    00046       } ieee;
    00047
    00048     /* This format makes it easier to see if a NaN is a signalling NaN.  */
    00049     struct
    00050       {
    00051         /* Together these comprise the mantissa.  */
    00052         unsigned int mantissa1:32;
    00053         unsigned int mantissa0:19;
    00054         unsigned int quiet_nan:1;
    00055         unsigned int exponent:11;
    00056         unsigned int negative:1;
    00057       } ieee_nan;
    00058   };
    00059
    00060 #define IEEE754_DOUBLE_BIAS     0x3ff /* Added to exponent.  */
    00061
    00062
    00063 struct drand48_data {
    00064   unsigned short int __x[3];    /* Current state.  */
    00065   unsigned short int __old_x[3]; /* Old state.  */
    00066   unsigned short int __c;       /* Additive const. in congruential formula.  */
    00067   unsigned short int __init;    /* Flag for initializing.  */
    00068   unsigned long long int __a;   /* Factor in congruential formula.  */
    00069 };
    00070
    00071
    00072 int srand48_r (long int seedval, struct drand48_data *buffer);
    00073
    00074 int drand48_r ( struct drand48_data *buffer, double *result);
    00075
    00076
    00077 #endif