128 lines
3.6 KiB
C++
128 lines
3.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
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#define _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
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#include <vector>
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/sensors/Noise.hh"
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#include "gazebo/util/system.hh"
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namespace Ogre
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{
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class CompositorInstance;
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}
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namespace gazebo
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{
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class GaussianNoiseCompositorListener;
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namespace sensors
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{
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/// \class GaussianNoiseModel
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/// \brief Gaussian noise class
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class GAZEBO_VISIBLE GaussianNoiseModel : public Noise
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{
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/// \brief Constructor.
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public: GaussianNoiseModel();
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/// \brief Destructor.
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public: virtual ~GaussianNoiseModel();
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// Documentation inherited.
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public: virtual void Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: virtual void Fini();
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// Documentation inherited.
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public: double ApplyImpl(double _in);
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/// \brief Accessor for mean.
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/// \return Mean of Gaussian noise.
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public: double GetMean() const;
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/// \brief Accessor for stddev.
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/// \return Standard deviation of Gaussian noise.
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public: double GetStdDev() const;
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/// \brief Accessor for bias.
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/// \return Bias on output.
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public: double GetBias() const;
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/// Documentation inherited
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public: virtual void Print(std::ostream &_out) const;
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/// \brief If type starts with GAUSSIAN, the mean of the distribution
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/// from which we sample when adding noise.
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protected: double mean;
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/// \brief If type starts with GAUSSIAN, the standard deviation of the
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/// distribution from which we sample when adding noise.
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protected: double stdDev;
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/// \brief If type starts with GAUSSIAN, the bias we'll add.
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protected: double bias;
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/// \brief If type==GAUSSIAN_QUANTIZED, the precision to which
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/// the output signal is rounded.
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protected: double precision;
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/// \brief True if the type is GAUSSIAN_QUANTIZED
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protected: bool quantized;
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};
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/// \class GaussianNoiseModel
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/// \brief Gaussian noise class for image sensors
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class GAZEBO_VISIBLE ImageGaussianNoiseModel : public GaussianNoiseModel
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{
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/// \brief Constructor.
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public: ImageGaussianNoiseModel();
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/// \brief Destructor.
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public: virtual ~ImageGaussianNoiseModel();
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// Documentation inherited.
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public: virtual void Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: virtual void Fini();
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// Documentation inherited.
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public: virtual void SetCamera(rendering::CameraPtr _camera);
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/// Documentation inherited
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public: virtual void Print(std::ostream &_out) const;
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/// \brief Gaussian noise compositor.
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public: Ogre::CompositorInstance *gaussianNoiseInstance;
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/// \brief Gaussian noise compositor listener
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public: boost::shared_ptr<GaussianNoiseCompositorListener>
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gaussianNoiseCompositorListener;
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};
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/// \}
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}
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}
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#endif
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