init

unitree_SDK/include/dds/ddsrt/random.h

@@ -0,0 +1,50 @@
+/*
+ * Copyright(c) 2006 to 2022 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef DDSRT_RANDOM_H
+#define DDSRT_RANDOM_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "dds/export.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+#define DDSRT_MT19937_N 624
+
+typedef struct ddsrt_prng_seed {
+  uint32_t key[8];
+} ddsrt_prng_seed_t;
+
+typedef struct ddsrt_prng {
+  uint32_t mt[DDSRT_MT19937_N];
+  uint32_t mti;
+} ddsrt_prng_t;
+
+DDS_EXPORT void ddsrt_random_init (void);
+DDS_EXPORT void ddsrt_random_fini (void);
+
+DDS_EXPORT void ddsrt_prng_init_simple (ddsrt_prng_t *prng, uint32_t seed);
+DDS_EXPORT bool ddsrt_prng_makeseed (struct ddsrt_prng_seed *seed);
+DDS_EXPORT void ddsrt_prng_init (ddsrt_prng_t *prng, const struct ddsrt_prng_seed *seed);
+DDS_EXPORT uint32_t ddsrt_prng_random (ddsrt_prng_t *prng);
+DDS_EXPORT size_t ddsrt_prng_random_name(ddsrt_prng_t *prng, char* output, size_t output_size);
+
+DDS_EXPORT uint32_t ddsrt_random (void);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_RANDOM_H */