Gabe noisy light

README.md

@@ -1,3 +1,5 @@
+Gabe: Currently adding noise to get\_ambientlight().
+
 # Kilosim: Kilobot Simulator
 
 [![Build Status](https://travis-ci.com/jtebert/kilosim.svg?token=s6ZVW1bvfNjgbZQh2x9M&branch=master)](https://travis-ci.com/jtebert/kilosim)
@@ -67,4 +69,4 @@ There are no fixed requirements for the contents of the configuration files; it'
 
 **TBD**
 
-This shouldn't be publicly used or shared until a license has been set for this software.
+This shouldn't be publicly used or shared until a license has been set for this software.

src/LightPattern.cpp

@@ -39,7 +39,10 @@ uint16_t LightPattern::get_ambientlight(const double x, const double y) const
         // Convert the color from RGB to grayscale using approximate luminosity
         // Each value is 8-bit, so the resulting value is in the scale [0-255]
         double luminosity = (0.3 * c.r) + (0.59 * c.g) + (0.11 * c.b);
-        // Scale to 10-bit [0-1023]
+        double std_dev = -0.0001123*luminosity*luminosity + 0.2197*luminosity + 0.8684; // polynomial std_dev
+        //double std_dev = 0.13*luminosity + 6.1; // linear std_dev
+        luminosity = normal_rand(luminosity, std_dev);
+
         uint16_t lum_10bit = (uint16_t)luminosity * 4;
         return lum_10bit;
     }

src/LightPattern.h

@@ -10,6 +10,7 @@
 #include <string>
 #include <iostream>
 #include <SFML/Graphics.hpp>
+#include "random.hpp"
 
 namespace Kilosim
 {
@@ -92,4 +93,4 @@ class LightPattern
   void set_light_pattern(const std::string img_src);
 };
 } // namespace Kilosim
-#endif
+#endif