GaussianNoiseModel.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
19 #define _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
20 
21 #include <vector>
22 #include <string>
23 
24 #include <sdf/sdf.hh>
25 
27 #include "gazebo/sensors/Noise.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace Ogre
31 {
32  class CompositorInstance;
33 }
34 
35 namespace gazebo
36 {
37  class GaussianNoiseCompositorListener;
38 
39  namespace sensors
40  {
44  {
46  public: GaussianNoiseModel();
47 
49  public: virtual ~GaussianNoiseModel();
50 
51  // Documentation inherited.
52  public: virtual void Load(sdf::ElementPtr _sdf);
53 
54  // Documentation inherited.
55  public: virtual void Fini();
56 
57  // Documentation inherited.
58  public: double ApplyImpl(double _in);
59 
62  public: double GetMean() const;
63 
66  public: double GetStdDev() const;
67 
70  public: double GetBias() const;
71 
73  public: virtual void Print(std::ostream &_out) const;
74 
77  protected: double mean;
78 
81  protected: double stdDev;
82 
84  protected: double bias;
85 
88  protected: double precision;
89 
91  protected: bool quantized;
92  };
93 
97  {
99  public: ImageGaussianNoiseModel();
100 
102  public: virtual ~ImageGaussianNoiseModel();
103 
104  // Documentation inherited.
105  public: virtual void Load(sdf::ElementPtr _sdf);
106 
107  // Documentation inherited.
108  public: virtual void Fini();
109 
110  // Documentation inherited.
111  public: virtual void SetCamera(rendering::CameraPtr _camera);
112 
114  public: virtual void Print(std::ostream &_out) const;
115 
117  public: Ogre::CompositorInstance *gaussianNoiseInstance;
118 
120  public: boost::shared_ptr<GaussianNoiseCompositorListener>
122  };
124  }
125 }
126 
127 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Definition: GaussianNoiseModel.hh:96
boost::shared_ptr< GaussianNoiseCompositorListener > gaussianNoiseCompositorListener
Gaussian noise compositor listener.
Definition: GaussianNoiseModel.hh:121
bool quantized
True if the type is GAUSSIAN_QUANTIZED.
Definition: GaussianNoiseModel.hh:91
Definition: JointMaker.hh:39
double bias
If type starts with GAUSSIAN, the bias we&#39;ll add.
Definition: GaussianNoiseModel.hh:84
double precision
If type==GAUSSIAN_QUANTIZED, the precision to which the output signal is rounded. ...
Definition: GaussianNoiseModel.hh:88
Gaussian noise class.
Definition: GaussianNoiseModel.hh:43
double mean
If type starts with GAUSSIAN, the mean of the distribution from which we sample when adding noise...
Definition: GaussianNoiseModel.hh:77
double stdDev
If type starts with GAUSSIAN, the standard deviation of the distribution from which we sample when ad...
Definition: GaussianNoiseModel.hh:81
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:89
Ogre::CompositorInstance * gaussianNoiseInstance
Gaussian noise compositor.
Definition: GaussianNoiseModel.hh:117
Noise models for sensor output signals.
Definition: Noise.hh:55