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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 <ignition/utils/ImplPtr.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 {
/// \enum NoiseType
/// \brief The set of noise types.
enum class NoiseType
{
/// \brief No noise model.
NONE = 0,
/// \brief Draw noise values independently for each measurement from a
/// Gaussian distribution
GAUSSIAN = 1,
/// \brief Gaussian noise plus quantization of outputs (ie. rounding).
GAUSSIAN_QUANTIZED = 2,
};
/// \brief The Noise class contains information about a noise
/// model, such as a Gaussian distribution. A Noise DOM object is
/// typically available from a Sensor.
class SDFORMAT_VISIBLE Noise
{
/// \brief Default constructor
public: Noise();
/// \brief Return true if both Noise objects contain the same values.
/// \param[_in] _noise Noise value to compare.
/// \return True if 'this' == _noise.
public: bool operator==(const Noise &_noise) const;
/// \brief Return true the Noise objects do not contain the same values.
/// \param[_in] _noise Noise value to compare.
/// \returen True if 'this' != _noise.
public: bool operator!=(const Noise &_noise) const;
/// \brief Load the noise based on a element pointer. This is *not*
/// the usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the type of noise.
/// \return The noise type.
public: NoiseType Type() const;
/// \brief Set the type of noise.
/// \param[in] _type The noise type.
public: void SetType(NoiseType _type);
/// \brief Get the mean of the Gaussian distribution
/// from which noise values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \return The mean of the Guassian distribution.
public: double Mean() const;
/// \brief Set the mean of the Gaussian distribution
/// from which noise values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \param[in] _mean The mean of the Guassian distribution.
public: void SetMean(double _mean);
/// \brief Get the standard deviation of the Gaussian distribution
/// from which noise values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \return The standard deviation of the Guassian distribution.
public: double StdDev() const;
/// \brief Set the standard deviation of the Gaussian distribution
/// from which noise values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \param[in] _stddev The standard deviation of the Guassian distribution.
public: void SetStdDev(double _stddev);
/// \brief Get the mean of the Gaussian distribution
/// from which bias values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \return The mean of the bias Guassian distribution.
public: double BiasMean() const;
/// \brief Set the mean of the Gaussian distribution
/// from which bias values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \param[in] _bias The mean of the bias Guassian distribution.
public: void SetBiasMean(double _bias);
/// \brief Get the standard deviation of the Gaussian distribution
/// from which bias values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \return The standard deviation of the bias Guassian distribution.
public: double BiasStdDev() const;
/// \brief Set the standard deviation of the Gaussian distribution
/// from which bias values are drawn. This is applicable to "gaussian*"
/// noise types.
/// \param[in] _bias The standard deviation of the bias Guassian
/// distribution.
public: void SetBiasStdDev(double _bias);
/// \brief For type "gaussian_quantized", get the precision of output
/// signals. A value of zero implies infinite precision / no quantization.
/// \return Precision of output signals.
public: double Precision() const;
/// \brief For type "gaussian_quantized", set the precision of output
/// signals. A value of zero implies infinite precision / no quantization.
/// \param[in] _precision Precision of output signals.
public: void SetPrecision(double _precision);
/// \brief For type "gaussian*", get the standard deviation of the noise
/// used to drive a process to model slow variations in a sensor bias.
/// \return The dynamic bias standard deviation.
public: double DynamicBiasStdDev() const;
/// \brief For type "gaussian*", set the standard deviation of the noise
/// used to drive a process to model slow variations in a sensor bias.
/// \param[in] _stddev The dynamic bias standard deviation.
public: void SetDynamicBiasStdDev(double _stddev);
/// \brief For type "gaussian*", get the correlation time of the noise
/// used to drive a process to model slow variations in a sensor bias.
/// \return The dynamic bias correlation time.
public: double DynamicBiasCorrelationTime() const;
/// \brief For type "gaussian*", set the correlation time in seconds of
/// the noise used to drive a process to model slow variations in a sensor
/// bias.A typical value, when used, would be on the order of
/// 3600 seconds (1 hour).
/// \param[in] _time The dynamic bias correlation time.
public: void SetDynamicBiasCorrelationTime(double _time);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Create and return an SDF element filled with data from this
/// noise.
/// \return SDF element pointer with updated noise values.
public: sdf::ElementPtr ToElement() const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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