56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
/*
|
|
* Copyright (C) 2012 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 _GAZEBO_RAY_SENSOR_NOISE_PLUGIN_HH_
|
|
#define _GAZEBO_RAY_SENSOR_NOISE_PLUGIN_HH_
|
|
|
|
#include "gazebo/common/Plugin.hh"
|
|
#include "gazebo/sensors/SensorTypes.hh"
|
|
#include "gazebo/sensors/RaySensor.hh"
|
|
#include "gazebo/gazebo.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
/// \brief A Ray Sensor Noise Plugin
|
|
class GAZEBO_VISIBLE RaySensorNoisePlugin : public SensorPlugin
|
|
{
|
|
/// \brief Constructor
|
|
public: RaySensorNoisePlugin();
|
|
|
|
/// \brief Destructor
|
|
public: virtual ~RaySensorNoisePlugin();
|
|
|
|
/// \brief Callback for applying noise to a single sensor beam.
|
|
/// \param[in] _in Input range value.
|
|
/// \return Range value with noise added.
|
|
public: virtual double OnApplyNoise(double _in);
|
|
|
|
/// \brief Load the plugin
|
|
/// \param[in] _parent Parent sensor
|
|
/// \param[in] _sdf Parent sensor's sdf element.
|
|
public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Apply fixed noise rate to each sensor beam.
|
|
private: double fixedNoiseRate;
|
|
|
|
/// \brief Sign of the noise value.
|
|
private: int sign;
|
|
};
|
|
}
|
|
#endif
|