Noise.hh

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/*
 * Copyright 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_NOISE_HH_
#define SDF_NOISE_HH_
 
#include <gz/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
 
namespace sdf
{
  // Inline bracke to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  enum class NoiseType
  {
    NONE = 0,
 
    GAUSSIAN = 1,
 
    GAUSSIAN_QUANTIZED = 2,
  };
 
  class SDFORMAT_VISIBLE Noise
  {
    public: Noise();
 
    public: bool operator==(const Noise &_noise) const;
 
    public: bool operator!=(const Noise &_noise) const;
 
    public: Errors Load(ElementPtr _sdf);
 
    public: NoiseType Type() const;
 
    public: void SetType(NoiseType _type);
 
    public: double Mean() const;
 
    public: void SetMean(double _mean);
 
    public: double StdDev() const;
 
    public: void SetStdDev(double _stddev);
 
    public: double BiasMean() const;
 
    public: void SetBiasMean(double _bias);
 
    public: double BiasStdDev() const;
 
    public: void SetBiasStdDev(double _bias);
 
    public: double Precision() const;
 
    public: void SetPrecision(double _precision);
 
    public: double DynamicBiasStdDev() const;
 
    public: void SetDynamicBiasStdDev(double _stddev);
 
    public: double DynamicBiasCorrelationTime() const;
 
    public: void SetDynamicBiasCorrelationTime(double _time);
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif