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GaussianNoiseModel.hh
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GaussianNoiseModel.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_GAUSSIANNOISEMODEL_HH_
#define GZ_SENSORS_GAUSSIANNOISEMODEL_HH_
#include <sdf/sdf.hh>
#include "gz/sensors/config.hh"
#include "gz/sensors/Export.hh"
#include "gz/sensors/Noise.hh"
namespace gz
{
namespace sensors
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SENSORS_VERSION_NAMESPACE {
//
// Forward declarations
class GaussianNoiseModelPrivate;
/** \class GaussianNoiseModel GaussianNoiseModel.hh \
gz/sensors/GaussianNoiseModel.hh
**/
/// \brief Gaussian noise class
class GZ_SENSORS_VISIBLE GaussianNoiseModel : public Noise
{
/// \brief Constructor.
public: GaussianNoiseModel();
/// \brief Destructor.
public: virtual ~GaussianNoiseModel();
// Documentation inherited.
public: virtual void Load(const sdf::Noise &_sdf) override;
// Documentation inherited.
public: double ApplyImpl(double _in, double _dt) override;
/// \brief Accessor for mean.
/// \return Mean of Gaussian noise.
public: double Mean() const;
/// \brief Accessor for stddev.
/// \return Standard deviation of Gaussian noise.
public: double StdDev() const;
/// \brief Accessor for bias.
/// \return Bias on output.
public: double Bias() const;
/// Documentation inherited
public: virtual void Print(std::ostream &_out) const override;
/// \brief Private data pointer.
private: GaussianNoiseModelPrivate *dataPtr = nullptr;
};
}
}
}
#endif