Noise.hh
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2  * Copyright (C) 2012-2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_NOISE_HH_
19 #define _GAZEBO_NOISE_HH_
20 
21 #include <vector>
22 #include <string>
23 
24 #include <sdf/sdf.hh>
25 
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace sensors
33  {
36 
40  {
48  public: static NoisePtr NewNoiseModel(sdf::ElementPtr _sdf,
49  const std::string &_sensorType = "");
50  };
51 
55  {
57  public: enum NoiseType
58  {
61  GAUSSIAN
62  };
63 
69  public: explicit Noise(NoiseType _type);
70 
72  public: virtual ~Noise();
73 
77  public: virtual void Load(sdf::ElementPtr _sdf);
78 
82  public: double Apply(double _in);
83 
88  public: virtual double ApplyImpl(double _in);
89 
91  public: virtual void Fini();
92 
95  public: NoiseType GetNoiseType() const;
96 
101  public: virtual void SetCustomNoiseCallback(
102  boost::function<double (double)> _cb);
103 
108  public: virtual void SetCamera(rendering::CameraPtr _camera);
109 
112  public: virtual void Print(std::ostream &_out) const;
113 
115  private: NoiseType type;
116 
118  private: sdf::ElementPtr sdf;
119 
121  private: boost::function<double (double)> customNoiseCallback;
122  };
124  }
125 }
126 #endif
boost::shared_ptr< Noise > NoisePtr
Definition: SensorTypes.hh:118
Use this noise manager for creating and loading noise models.
Definition: Noise.hh:39
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:87
NoiseType
Which noise types we support.
Definition: Noise.hh:57
Definition: Noise.hh:59
Definition: Noise.hh:60
Forward declarations and typedefs for sensors.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:66
Noise models for sensor output signals.
Definition: Noise.hh:54