Noise.hh
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17 #ifndef SDF_NOISE_HH_
18 #define SDF_NOISE_HH_
19 
20 #include <ignition/utils/ImplPtr.hh>
21 #include <sdf/Error.hh>
22 #include <sdf/Element.hh>
23 #include <sdf/sdf_config.h>
24 
25 namespace sdf
26 {
27  // Inline bracke to help doxygen filtering.
28  inline namespace SDF_VERSION_NAMESPACE {
31  enum class NoiseType
32  {
34  NONE = 0,
35 
38  GAUSSIAN = 1,
39 
42  };
43 
48  {
50  public: Noise();
51 
55  public: bool operator==(const Noise &_noise) const;
56 
60  public: bool operator!=(const Noise &_noise) const;
61 
68  public: Errors Load(ElementPtr _sdf);
69 
72  public: NoiseType Type() const;
73 
76  public: void SetType(NoiseType _type);
77 
82  public: double Mean() const;
83 
88  public: void SetMean(double _mean);
89 
94  public: double StdDev() const;
95 
100  public: void SetStdDev(double _stddev);
101 
106  public: double BiasMean() const;
107 
112  public: void SetBiasMean(double _bias);
113 
118  public: double BiasStdDev() const;
119 
125  public: void SetBiasStdDev(double _bias);
126 
130  public: double Precision() const;
131 
135  public: void SetPrecision(double _precision);
136 
140  public: double DynamicBiasStdDev() const;
141 
145  public: void SetDynamicBiasStdDev(double _stddev);
146 
150  public: double DynamicBiasCorrelationTime() const;
151 
157  public: void SetDynamicBiasCorrelationTime(double _time);
158 
163  public: sdf::ElementPtr Element() const;
164 
166  IGN_UTILS_IMPL_PTR(dataPtr)
167  };
168  }
169 }
170 #endif
Draw noise values independently for each measurement from a Gaussian distribution.
Gaussian noise plus quantization of outputs (ie. rounding).
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:98
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
NoiseType
The set of noise types.
Definition: Noise.hh:31
namespace for Simulation Description Format parser
Definition: Actor.hh:33
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:47