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