// returned value = meters*100 (2 decimal precision). sensorID is [1,8], speed is 100*(kmph) (2 decimal precision)
int getSensorValue(char sensorID, unsigned long speed_mph, unsigned long long time_usec){
// position
float pos;
// noise to be added
float additive_noise;
// convert arguments to usable units
float time_sec = (float)(time_usec/1000000.0);
// additional time division for ratio to be correct
time_sec /= 3600.0;
// get noise
additive_noise = 50*randnormal();
// get pos
pos = 555*sin(0.1*time_sec) + additive_noise;
return( (int)(pos) );
}
/* main: application entry point.
* @argc: the number of commandline arguments.
* @argv: the commandline argument string array.
*/
int main (int argc, char **argv) {
/* declare required variables. */
struct vector *x, *y, *z, *u;
struct matrix *V, *R, *C;
double theta;
char *smean, *svar, *label;
unsigned long n;
int i;
/* initialize the random number generator. */
rand_init (time (NULL));
/* parse the command-line arguments. */
if (!opts_init (argc, argv)) {
/* output an error message and exit. */
ferror ("failed to parse arguments");
fprintf (stdout, HELP);
return 1;
}
/* see if we should display the help message. */
if (opts_geti (OPTS_S_HELP)) {
/* print the help message and quit. */
fprintf (stdout, HELP);
return 0;
}
/* get the number of points to produce. */
n = opts_geti (OPTS_S_COUNT);
/* ensure the point count is valid. */
if (!n) {
/* output an error message and exit. */
ferror ("invalid point count (%lu)", n);
fprintf (stdout, HELP);
return 1;
}
/* get the points label. */
label = opts_gets (OPTS_S_LABEL);
/* ensure the points label is valid. */
if (!label) {
/* output an error message and exit. */
ferror ("invalid label '%s'", label);
fprintf (stdout, HELP);
return 1;
}
/* allocate the math structures. */
x = vector_new (2);
y = vector_new (2);
z = vector_new (2);
u = vector_new (2);
V = matrix_new (2, 2);
R = matrix_new (2, 2);
C = matrix_new (2, 2);
/* ensure we allocated the math structures. */
if (!x || !y || !z || !u || !V || !R || !C) {
/* output an error message and exit. */
ferror ("failed to allocate math structures");
return 1;
}
/* get the mean string. */
smean = opts_gets (OPTS_S_MEAN);
/* did we get a mean string? */
if (smean) {
/* try to parse the string. */
if (sscanf (smean, "(%lf,%lf)", &u->d[0], &u->d[1]) != 2) {
/* output an error message and exit. */
ferror ("failed to parse mean string '%s'", smean);
fprintf (stdout, HELP);
return 1;
}
}
else {
/* initialize to the origin. */
u->d[0] = u->d[1] = 0.0;
}
/* get the variance string. */
svar = opts_gets (OPTS_S_VAR);
/* did we get a variance string? */
if (svar) {
/* try to parse the string. */
if (sscanf (svar, "(%lf,%lf)", &V->d[0][0], &V->d[1][1]) != 2) {
/* output an error message and exit. */
ferror ("failed to parse variance string '%s'", svar);
fprintf (stdout, HELP);
return 1;
}
}
else {
/* initialize to unit variances. */
V->d[0][0] = V->d[1][1] = 1.0;
}
/* get the rotation value. */
theta = opts_getf (OPTS_S_ROT) / 180.0 * M_PI;
/* build the rotation matrix. */
R->d[0][0] = cos (theta);
R->d[0][1] = -sin (theta);
R->d[1][0] = sin (theta);
R->d[1][1] = cos (theta);
/* calculate the covariance matrix. */
if (!matrix_matrix_mul (1.0, R, V, C)) {
/* output an error message and exit. */
ferror ("failed to calculate covariance matrix");
return 1;
}
/* see if we should produce a header. */
if (opts_geti (OPTS_S_HEADER)) {
/* yep. print one. */
fprintf (stdout,
"Obs ID (Primary)\tObs ID (Obs. Sec. ID:1)\tM1.t[2]\tM1.t[1]\n");
}
/* loop a set number of times. */
for (i = 0; i < n; i++) {
/* calculate the two values. */
x->d[0] = randnormal ();
x->d[1] = randnormal ();
/* scale the values. */
if (!matrix_vector_mul (1.0, C, x, y)) {
/* output an error message and exit. */
ferror ("failed to scale random variate %d", i + 1);
return 1;
}
/* translate the values. */
if (!vector_sum (1.0, y, 1.0, u, z)) {
/* output an error message and exit. */
ferror ("failed to translate random variate %d", i + 1);
return 1;
}
/* print the values. */
fprintf (stdout, "%d\t%s\t%lf\t%lf\n", i + 1, label, z->d[0], z->d[1]);
}
/* free the math structures. */
vector_free (x);
vector_free (y);
vector_free (z);
vector_free (u);
matrix_free (V);
matrix_free (R);
matrix_free (C);
/* return success. */
return 0;
}
