Noise.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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16*/
17
18#ifndef _GAZEBO_NOISE_HH_
19#define _GAZEBO_NOISE_HH_
20
21#include <vector>
22#include <string>
23
24#include <boost/function.hpp>
25#include <sdf/sdf.hh>
26
29#include "gazebo/util/system.hh"
30
31namespace gazebo
32{
33 namespace sensors
34 {
37
40 class GZ_SENSORS_VISIBLE NoiseFactory
41 {
49 public: static NoisePtr NewNoiseModel(sdf::ElementPtr _sdf,
50 const std::string &_sensorType = "");
51 };
52
55 class GZ_SENSORS_VISIBLE Noise
56 {
58 public: enum NoiseType
59 {
62 GAUSSIAN
63 };
64
70 public: explicit Noise(NoiseType _type);
71
73 public: virtual ~Noise();
74
78 public: virtual void Load(sdf::ElementPtr _sdf);
79
83 public: double Apply(double _in);
84
89 public: virtual double ApplyImpl(double _in);
90
92 public: virtual void Fini();
93
96 public: NoiseType GetNoiseType() const;
97
102 public: virtual void SetCustomNoiseCallback(
103 boost::function<double (double)> _cb);
104
109 public: virtual void SetCamera(rendering::CameraPtr _camera);
110
113 public: virtual void Print(std::ostream &_out) const;
114
116 private: NoiseType type;
117
119 private: sdf::ElementPtr sdf;
120
122 private: std::function<double (double)> customNoiseCallback;
123 };
125 }
126}
127#endif
sensors
Definition SensorManager.hh:35
Forward declarations and typedefs for sensors.
Use this noise manager for creating and loading noise models.
Definition Noise.hh:41
static NoisePtr NewNoiseModel(sdf::ElementPtr _sdf, const std::string &_sensorType="")
Load a noise model based on the input sdf parameters and sensor type.
Noise models for sensor output signals.
Definition Noise.hh:56
virtual void Fini()
Finalize the noise model.
Noise(NoiseType _type)
Constructor.
double Apply(double _in)
Apply noise to input data value.
virtual ~Noise()
Destructor.
NoiseType
Which noise types we support.
Definition Noise.hh:59
@ CUSTOM
Definition Noise.hh:61
@ NONE
Definition Noise.hh:60
@ GAUSSIAN
Definition Noise.hh:62
virtual void SetCamera(rendering::CameraPtr _camera)
Set camera needed to create image noise.
virtual double ApplyImpl(double _in)
Apply noise to input data value.
virtual void SetCustomNoiseCallback(boost::function< double(double)> _cb)
Register a custom noise callback.
virtual void Load(sdf::ElementPtr _sdf)
Load noise parameters from sdf.
virtual void Print(std::ostream &_out) const
Output information about the noise model.
NoiseType GetNoiseType() const
Accessor for NoiseType.
boost::shared_ptr< Camera > CameraPtr
Definition RenderTypes.hh:90
std::shared_ptr< Noise > NoisePtr
Definition SensorTypes.hh:124
Forward declarations for the common classes.
Definition Animation.hh:27