RaySensorNoisePlugin.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.
15 *
16*/
17
18#ifndef GAZEBO_PLUGINS_RAYSENSORNOISEPLUGIN_HH_
19#define GAZEBO_PLUGINS_RAYSENSORNOISEPLUGIN_HH_
20
24#include "gazebo/gazebo.hh"
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
30 class GZ_PLUGIN_VISIBLE RaySensorNoisePlugin : public SensorPlugin
31 {
34
36 public: virtual ~RaySensorNoisePlugin();
37
41 public: virtual double OnApplyNoise(double _in);
42
46 public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
47
49 private: double fixedNoiseRate;
50
52 private: int sign;
53 };
54}
55#endif
Forward declarations and typedefs for sensors.
A Ray Sensor Noise Plugin.
Definition RaySensorNoisePlugin.hh:31
RaySensorNoisePlugin()
Constructor.
virtual ~RaySensorNoisePlugin()
Destructor.
void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
virtual double OnApplyNoise(double _in)
Callback for applying noise to a single sensor beam.
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27