47 lines
2.7 KiB
Plaintext
47 lines
2.7 KiB
Plaintext
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<element name="imu" required="0">
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<description>These elements are specific to the IMU sensor.</description>
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<element name="topic" type="string" default="__default_topic__" required="0">
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<description>Topic on which data is published.</description>
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</element>
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<element name="noise" required="0">
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<description>The properties of the noise model that should be applied to generated data</description>
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<element name="type" type="string" default="gaussian" required="1">
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<description>The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).</description>
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</element>
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<element name="rate" required="1">
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<description>Noise parameters for angular rates.</description>
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<element name="mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="bias_mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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<element name="bias_stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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</element> <!-- End Rate -->
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<element name="accel" required="1">
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<description>Noise parameters for linear accelerations.</description>
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<element name="mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="bias_mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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<element name="bias_stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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</element> <!-- End Accel -->
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</element> <!-- End Noise -->
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</element>
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