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18 #ifndef _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
19 #define _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
32 class CompositorInstance;
37 class GaussianNoiseCompositorListener;
52 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
virtual void Fini();
97 public:
virtual void Print(std::ostream &_out)
const;
100 private:
void SampleBias();
122 private:
double biasMean;
126 private:
double biasStdDev;
130 private:
double dynamicBiasStdDev;
134 private:
double dynamicBiasCorrTime;
148 public:
virtual void Load(sdf::ElementPtr _sdf);
157 public:
virtual void Print(std::ostream &_out)
const;
163 public: boost::shared_ptr<GaussianNoiseCompositorListener>
double GetDynamicBiasCorrelationTime() const
Accessor for dynamic bias process correlation time (seconds).
void SetMean(const double _mean)
Set mean.
Definition: GaussianNoiseModel.hh:140
void SetDynamicBiasStdDev(const double _stddev)
Set standard deviation of dynamic bias process.
Gaussian noise class.
Definition: GaussianNoiseModel.hh:44
Definition: JointMaker.hh:40
double precision
If type==GAUSSIAN_QUANTIZED, the precision to which the output signal is rounded.
Definition: GaussianNoiseModel.hh:115
Forward declarations for the common classes.
Definition: Animation.hh:27
double ApplyImpl(double _in, double _dt)
Apply noise to input data value.
virtual void Fini()
Finalize the noise model.
virtual void Print(std::ostream &_out) const
Documentation inherited.
double mean
If type starts with GAUSSIAN, the mean of the distribution from which we sample when adding noise.
Definition: GaussianNoiseModel.hh:104
double stdDev
If type starts with GAUSSIAN, the standard deviation of the distribution from which we sample when ad...
Definition: GaussianNoiseModel.hh:108
virtual void SetCamera(rendering::CameraPtr _camera)
Set camera needed to create image noise.
sensors
Definition: SensorManager.hh:37
bool quantized
True if the type is GAUSSIAN_QUANTIZED.
Definition: GaussianNoiseModel.hh:118
Noise models for sensor output signals.
Definition: Noise.hh:56
ImageGaussianNoiseModel()
Constructor.
void SetDynamicBiasCorrelationTime(const double _stddev)
Set correlation time of dynamic bias process, in seconds.
boost::shared_ptr< GaussianNoiseCompositorListener > gaussianNoiseCompositorListener
Gaussian noise compositor listener.
Definition: GaussianNoiseModel.hh:164
void SetStdDev(const double _stddev)
Set stddev.
virtual void Fini()
Finalize the noise model.
Ogre::CompositorInstance * gaussianNoiseInstance
Gaussian noise compositor.
Definition: GaussianNoiseModel.hh:160
double bias
If type starts with GAUSSIAN, the bias we'll add.
Definition: GaussianNoiseModel.hh:111
virtual void Load(sdf::ElementPtr _sdf)
Load noise parameters from sdf.
virtual void Print(std::ostream &_out) const
Documentation inherited.
double GetMean() const
Accessor for mean.
double GetBias() const
Accessor for bias.
virtual void Load(sdf::ElementPtr _sdf)
Load noise parameters from sdf.
double GetDynamicBiasStdDev() const
Accessor for dynamic bias process standard deviation.
virtual ~ImageGaussianNoiseModel()
Destructor.
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
virtual ~GaussianNoiseModel()
Destructor.
GaussianNoiseModel()
Constructor.
double GetStdDev() const
Accessor for stddev.