gazebo::sensors::Noise Class Reference

Noise models for sensor output signals. More...

#include <Noise.hh>

Inheritance diagram for gazebo::sensors::Noise:

Public Types
enum	NoiseType { NONE, CUSTOM, GAUSSIAN }
	Which noise types we support. More...

Public Member Functions
	Noise (NoiseType _type)
	Constructor. More...
virtual	~Noise ()
	Destructor. More...
double	Apply (double _in)
	Apply noise to input data value. More...
virtual double	ApplyImpl (double _in)
	Apply noise to input data value. More...
virtual void	Fini ()
	Finalize the noise model. More...
NoiseType	GetNoiseType () const
	Accessor for NoiseType. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load noise parameters from sdf. More...
virtual void	SetCamera (rendering::CameraPtr _camera)
	Set camera needed to create image noise. More...
virtual void	SetCustomNoiseCallback (boost::function< double(double)> _cb)
	Register a custom noise callback. More...

Detailed Description

Noise models for sensor output signals.

Member Enumeration Documentation

enum gazebo::sensors::Noise::NoiseType

Which noise types we support.

Enumerator
NONE
CUSTOM
GAUSSIAN

Constructor & Destructor Documentation

gazebo::sensors::Noise::Noise ( NoiseType  _type )

explicit

Constructor.

This should not be called directly unless creating an empty noise model. Use NoiseFactory::NewNoiseModel to instantiate a new noise model.

Parameters

[in]

_type

Type of noise model.

See Also

NoiseFactory::NewNoiseModel

virtual gazebo::sensors::Noise::~Noise ( )

virtual

Destructor.

Member Function Documentation

double gazebo::sensors::Noise::Apply

(

double

_in

)

Apply noise to input data value.

Parameters

[in]

_in

Input data value.

Returns

Data with noise applied.

virtual double gazebo::sensors::Noise::ApplyImpl ( double  _in )

virtual

Apply noise to input data value.

This gets overriden by derived classes, and called by Apply.

Parameters

[in]

_in

Input data value.

Returns

Data with noise applied.

Reimplemented in gazebo::sensors::GaussianNoiseModel.

virtual void gazebo::sensors::Noise::Fini ( )

virtual

Finalize the noise model.

Reimplemented in gazebo::sensors::ImageGaussianNoiseModel, and gazebo::sensors::GaussianNoiseModel.

NoiseType gazebo::sensors::Noise::GetNoiseType

(

)

const

Accessor for NoiseType.

Returns

Type of noise currently in use.

virtual void gazebo::sensors::Noise::Load ( sdf::ElementPtr  _sdf )

virtual

Load noise parameters from sdf.

Parameters

[in]	_sdf	SDF parameters.
[in]	_sensor	Type of sensor.

Reimplemented in gazebo::sensors::ImageGaussianNoiseModel, and gazebo::sensors::GaussianNoiseModel.

virtual void gazebo::sensors::Noise::SetCamera ( rendering::CameraPtr  _camera )

virtual

Set camera needed to create image noise.

This is only needed for image sensors, i.e. camera/multicamera/depth sensors, which use shaders for more efficient noise generation.

Parameters

[in]

_camera

Camera associated to an image sensor

Reimplemented in gazebo::sensors::ImageGaussianNoiseModel.

virtual void gazebo::sensors::Noise::SetCustomNoiseCallback ( boost::function< double(double)>  _cb )

virtual

Register a custom noise callback.

Parameters

[in]

_cb

Callback function for applying a custom noise model. This is useful if users want to use their own noise model from a sensor plugin.

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The documentation for this class was generated from the following file:

• Noise.hh