GaussianNoiseModel.hh
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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  {
43  class GZ_SENSORS_VISIBLE GaussianNoiseModel : public Noise
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 
74  public: void SetMean(const double _mean);
75 
78  public: void SetStdDev(const double _stddev);
79 
81  public: virtual void Print(std::ostream &_out) const;
82 
84  private: void SampleBias();
85 
88  protected: double mean;
89 
92  protected: double stdDev;
93 
95  protected: double bias;
96 
99  protected: double precision;
100 
102  protected: bool quantized;
103 
106  private: double biasMean;
107 
110  private: double biasStdDev;
111  };
112 
115  class GZ_SENSORS_VISIBLE ImageGaussianNoiseModel : public GaussianNoiseModel
116  {
118  public: ImageGaussianNoiseModel();
119 
121  public: virtual ~ImageGaussianNoiseModel();
122 
123  // Documentation inherited.
124  public: virtual void Load(sdf::ElementPtr _sdf);
125 
126  // Documentation inherited.
127  public: virtual void Fini();
128 
129  // Documentation inherited.
130  public: virtual void SetCamera(rendering::CameraPtr _camera);
131 
133  public: virtual void Print(std::ostream &_out) const;
134 
136  public: Ogre::CompositorInstance *gaussianNoiseInstance;
137 
139  public: boost::shared_ptr<GaussianNoiseCompositorListener>
141  };
143  }
144 }
145 
146 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
Definition: GaussianNoiseModel.hh:115
boost::shared_ptr< GaussianNoiseCompositorListener > gaussianNoiseCompositorListener
Gaussian noise compositor listener.
Definition: GaussianNoiseModel.hh:140
bool quantized
True if the type is GAUSSIAN_QUANTIZED.
Definition: GaussianNoiseModel.hh:102
Definition: JointMaker.hh:39
double bias
If type starts with GAUSSIAN, the bias we&#39;ll add.
Definition: GaussianNoiseModel.hh:95
double precision
If type==GAUSSIAN_QUANTIZED, the precision to which the output signal is rounded. ...
Definition: GaussianNoiseModel.hh:99
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:88
double stdDev
If type starts with GAUSSIAN, the standard deviation of the distribution from which we sample when ad...
Definition: GaussianNoiseModel.hh:92
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
Ogre::CompositorInstance * gaussianNoiseInstance
Gaussian noise compositor.
Definition: GaussianNoiseModel.hh:136
Noise models for sensor output signals.
Definition: Noise.hh:55