Noise.hh

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/*
 * Copyright 2019 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 SDF_NOISE_HH_
#define SDF_NOISE_HH_

#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>

namespace sdf
{
  // Inline bracke to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  // Forward declare private data class.
  class NoisePrivate;

  enum class NoiseType
  {
    NONE = 0,

    GAUSSIAN = 1,

    GAUSSIAN_QUANTIZED = 2,
  };

  class SDFORMAT_VISIBLE Noise
  {
    public: Noise();

    public: Noise(const Noise &_noise);

    public: Noise(Noise &&_noise) noexcept;

    public: ~Noise();

    public: Noise &operator=(const Noise &_noise);

    public: Noise &operator=(Noise &&_noise);

    public: bool operator==(const Noise &_noise) const;

    public: bool operator!=(const Noise &_noise) const;

    public: Errors Load(ElementPtr _sdf);

    public: NoiseType Type() const;

    public: void SetType(NoiseType _type);

    public: double Mean() const;

    public: void SetMean(double _mean);

    public: double StdDev() const;

    public: void SetStdDev(double _stddev);

    public: double BiasMean() const;

    public: void SetBiasMean(double _bias);

    public: double BiasStdDev() const;

    public: void SetBiasStdDev(double _bias);

    public: double Precision() const;

    public: void SetPrecision(double _precision);

    public: double DynamicBiasStdDev() const;

    public: void SetDynamicBiasStdDev(double _stddev);

    public: double DynamicBiasCorrelationTime() const;

    public: void SetDynamicBiasCorrelationTime(double _time);

    public: sdf::ElementPtr Element() const;

    private: NoisePrivate *dataPtr;
  };
  }
}
#endif