Gazebo Sensors

API Reference

3.6.0
gz/sensors/GaussianNoiseModel.hh
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1 /*
2  * Copyright (C) 2018 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef GZ_SENSORS_GAUSSIANNOISEMODEL_HH_
19 #define GZ_SENSORS_GAUSSIANNOISEMODEL_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gz/sensors/config.hh"
24 #include "gz/sensors/Export.hh"
25 #include "gz/sensors/Noise.hh"
26 
27 namespace ignition
28 {
29  namespace sensors
30  {
31  // Inline bracket to help doxygen filtering.
32  inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
33  //
34  // Forward declarations
35  class GaussianNoiseModelPrivate;
36 
40  class IGNITION_SENSORS_VISIBLE GaussianNoiseModel : public Noise
42  {
44  public: GaussianNoiseModel();
45 
47  public: virtual ~GaussianNoiseModel();
48 
49  // Documentation inherited.
50  public: virtual void Load(const sdf::Noise &_sdf) override;
51 
52  // Documentation inherited.
53  public: double ApplyImpl(double _in, double _dt) override;
54 
57  public: double Mean() const;
58 
61  public: double StdDev() const;
62 
65  public: double Bias() const;
66 
68  public: virtual void Print(std::ostream &_out) const override;
69 
71  private: GaussianNoiseModelPrivate *dataPtr = nullptr;
72  };
73  }
74  }
75 }
76 
77 #endif
virtual void Print(std::ostream &_out) const override
Documentation inherited.
double ApplyImpl(double _in, double _dt) override
Apply noise to input data value. This gets overriden by derived classes, and called by Apply.
Definition: gz/sensors/AirPressureSensor.hh:32
virtual void Load(const sdf::Noise &_sdf) override
Load noise parameters from sdf.
double Mean() const
Accessor for mean.
virtual ~GaussianNoiseModel()
Destructor.
double Bias() const
Accessor for bias.
STL class.
double StdDev() const
Accessor for stddev.