Noise.hh

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/*
 * Copyright (C) 2012-2016 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 <boost/function.hpp>
#include <sdf/sdf.hh>

#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/sensors/SensorTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE NoiseFactory
    {
      public: static NoisePtr NewNoiseModel(sdf::ElementPtr _sdf,
          const std::string &_sensorType = "");
    };

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

      public: explicit Noise(NoiseType _type);

      public: virtual ~Noise();

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

      public: double Apply(double _in);

      public: virtual double ApplyImpl(double _in);

      public: virtual void Fini();

      public: NoiseType GetNoiseType() const;

      public: virtual void SetCustomNoiseCallback(
          boost::function<double (double)> _cb);

      public: virtual void SetCamera(rendering::CameraPtr _camera);

      public: virtual void Print(std::ostream &_out) const;

      private: NoiseType type;

      private: sdf::ElementPtr sdf;

      private: boost::function<double (double)> customNoiseCallback;
    };
  }
}
#endif