Noise.hh

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/*
 * Copyright (C) 2012-2014 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 _GAZEBO_NOISE_HH_
#define _GAZEBO_NOISE_HH_

#include <vector>
#include <string>

#include <sdf/sdf.hh>

namespace gazebo
{
  namespace sensors
  {

    class Noise
    {
      public: enum NoiseType
      {
        NONE,
        GAUSSIAN,
        GAUSSIAN_QUANTIZED
      };

      public: Noise();

      public: ~Noise();

      public: void Load(sdf::ElementPtr _sdf);

      public: double Apply(double _in) const;

      public: NoiseType GetNoiseType() const;

      public: double GetMean() const;

      public: double GetStdDev() const;

      public: double GetBias() const;

      private: sdf::ElementPtr sdf;

      private: NoiseType type;

      private: double mean;

      private: double stdDev;

      private: double bias;

      private: double precision;
    };
  }
}
#endif