71 lines
1.9 KiB
C++
71 lines
1.9 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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#include <functional>
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#include "gazebo/sensors/Noise.hh"
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#include "RaySensorNoisePlugin.hh"
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_SENSOR_PLUGIN(RaySensorNoisePlugin)
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/////////////////////////////////////////////////
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RaySensorNoisePlugin::RaySensorNoisePlugin()
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{
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this->fixedNoiseRate = 0.005;
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this->sign = 1;
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}
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/////////////////////////////////////////////////
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RaySensorNoisePlugin::~RaySensorNoisePlugin()
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{
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}
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/////////////////////////////////////////////////
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void RaySensorNoisePlugin::Load(sensors::SensorPtr _parent,
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sdf::ElementPtr /*_sdf*/)
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{
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if (!_parent)
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{
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gzerr << "RaySensorNoisePlugin requires a ray sensor as its parent.\n";
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return;
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}
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sensors::NoisePtr noise = _parent->Noise(sensors::RAY_NOISE);
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if (noise)
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{
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noise->SetCustomNoiseCallback(
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std::bind(&RaySensorNoisePlugin::OnApplyNoise, this,
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std::placeholders::_1));
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}
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else
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{
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gzwarn << "No noise found. Please add noise element to you ray sensor sdf "
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<< "and set noise type to \"custom\"" << std::endl;
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}
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}
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/////////////////////////////////////////////////
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double RaySensorNoisePlugin::OnApplyNoise(double _in)
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{
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// Apply alternating random noise.
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double randNoise = math::Rand::GetDblUniform(0, this->fixedNoiseRate);
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this->sign *= -1;
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return _in + this->sign*randNoise*_in;
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}
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