gz/sensors/Noise.hh

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/*
 * Copyright (C) 2018 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 GZ_SENSORS_NOISE_HH_
#define GZ_SENSORS_NOISE_HH_
 
#include <functional>
#include <string>
#include <vector>
 
#include <gz/sensors/config.hh>
#include <gz/sensors/SensorTypes.hh>
#include <gz/sensors/Export.hh>
 
#include <sdf/sdf.hh>
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    // Forward declarations
    class NoisePrivate;
 
    class GZ_SENSORS_VISIBLE NoiseFactory
    {
      public: static NoisePtr NewNoiseModel(sdf::ElementPtr _sdf,
          const std::string &_sensorType = "");
 
      public: static NoisePtr NewNoiseModel(const sdf::Noise &_sdf,
                  const std::string &_sensorType = "");
    };
 
    enum class GZ_SENSORS_VISIBLE NoiseType : int
    {
      NONE = 0,
      CUSTOM = 1,
      GAUSSIAN = 2
    };
 
    class GZ_SENSORS_VISIBLE Noise
    {
      public: explicit Noise(NoiseType _type);
 
      public: virtual ~Noise();
 
      public: virtual void Load(const sdf::Noise &_sdf);
 
      public: double Apply(double _in, double _dt = 0.0);
 
      public: virtual double ApplyImpl(double _in, double _dt);
 
      public: NoiseType Type() const;
 
      public: virtual void SetCustomNoiseCallback(
          std::function<double(double, double)> _cb);
 
      public: virtual void Print(std::ostream &_out) const;
 
      private: NoisePrivate *dataPtr = nullptr;
    };
    }
  }
}
#endif