mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 12:23:23 +08:00
Felix Ruess
a157808cbe
using create has been deprecated for a long time, and make is available at least since ocaml 3.12
95 lines
3.1 KiB
OCaml
95 lines
3.1 KiB
OCaml
(*
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* Utilities
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*
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* Copyright (C) 2004 CENA/ENAC, Yann Le Fablec
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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let pi = 3.14159265358979323846;;
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let open_compress file =
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if Filename.check_suffix file "gz" || Filename.check_suffix file "Z" ||
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Filename.check_suffix file "zip" || Filename.check_suffix file "ZIP" then
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Unix.open_process_in ("gunzip -c "^file)
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else if Filename.check_suffix file "bz2" then
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Unix.open_process_in ("bunzip2 -c "^file)
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else Pervasives.open_in file
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let extensions = ["";".gz";".Z";".bz2";".zip";".ZIP"]
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let find_file = fun path file ->
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let rec loop_path = function
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[] -> raise Not_found
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| p::ps ->
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let rec loop_ext = function
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[] -> loop_path ps
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| ext::es ->
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let f = Filename.concat p file ^ ext in
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if Sys.file_exists f then f else loop_ext es in
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loop_ext extensions in
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loop_path path
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let regexp_plus_less = Str.regexp "[+-]"
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let affine_transform = fun format ->
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(* Split after removing blank spaces *)
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let split = Str.full_split regexp_plus_less (Str.global_replace (Str.regexp "[ \t]+") "" format) in
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let first_sign = match List.hd split with
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Str.Text _ | Str.Delim "+" -> 1.
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| Str.Delim "-" -> -. 1.
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| _ -> 0.
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in
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let second_sign = match split with
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[_; Str.Delim "+"; _] | [_; _; Str.Delim "+"; _] -> 1.
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| [_; Str.Delim "-"; _]
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| [_; Str.Delim "+"; Str.Delim "-"; _]
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| [_; _; Str.Delim "-"; _]
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| [_; _; Str.Delim "+"; Str.Delim "-"; _] -> -1.
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| _ -> 0.
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in
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match split with
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[Str.Text a; _; Str.Text b]
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| [_; Str.Text a; _; Str.Text b]
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| [Str.Text a; _; _; Str.Text b]
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| [_; Str.Text a; _; _; Str.Text b] -> first_sign *. float_of_string a, second_sign *. float_of_string b
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| [Str.Text a] | [_; Str.Text a] -> first_sign *. float_of_string a, 0.
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| _ -> 1., 0.
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(* Box-Muller transform to generate a normal distribution from a uniform one
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http://en.wikipedia.org/wiki/Normal_distribution *)
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let normal = fun mu sigma ->
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let u1 = Random.float 1.
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and u2 = Random.float 1. in
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mu +. sigma *. sqrt (-2. *. log u1) *. cos (2. *. pi *. u2)
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let make_1st_order_noise_generator = fun ?(init = 0.) k sigma ->
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let x = ref init in
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fun () ->
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x := k *. !x +. normal 0. sigma;
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!x
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let shifter = fun n default ->
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let a = Array.make n default
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and i = ref 0 in
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fun new_value ->
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let old_value = a.(!i) in
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a.(!i) <- new_value;
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i := (!i + 1) mod n;
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old_value
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