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18 #ifndef _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
19 #define _GAZEBO_GAUSSIAN_NOISE_MODEL_HH_
32 class CompositorInstance;
37 class GaussianNoiseCompositorListener;
52 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
virtual void Fini();
81 public:
virtual void Print(std::ostream &_out)
const;
84 private:
void SampleBias();
106 private:
double biasMean;
110 private:
double biasStdDev;
124 public:
virtual void Load(sdf::ElementPtr _sdf);
133 public:
virtual void Print(std::ostream &_out)
const;
139 public: boost::shared_ptr<GaussianNoiseCompositorListener>
void SetMean(const double _mean)
Set mean.
Definition: GaussianNoiseModel.hh:116
Gaussian noise class.
Definition: GaussianNoiseModel.hh:44
Definition: JointMaker.hh:40
double precision
If type==GAUSSIAN_QUANTIZED, the precision to which the output signal is rounded.
Definition: GaussianNoiseModel.hh:99
Forward declarations for the common classes.
Definition: Animation.hh:27
virtual void Fini()
Finalize the noise model.
virtual void Print(std::ostream &_out) const
Documentation inherited.
double mean
If type starts with GAUSSIAN, the mean of the distribution from which we sample when adding noise.
Definition: GaussianNoiseModel.hh:88
double stdDev
If type starts with GAUSSIAN, the standard deviation of the distribution from which we sample when ad...
Definition: GaussianNoiseModel.hh:92
virtual void SetCamera(rendering::CameraPtr _camera)
Set camera needed to create image noise.
sensors
Definition: SensorManager.hh:35
bool quantized
True if the type is GAUSSIAN_QUANTIZED.
Definition: GaussianNoiseModel.hh:102
Noise models for sensor output signals.
Definition: Noise.hh:56
ImageGaussianNoiseModel()
Constructor.
double ApplyImpl(double _in)
Apply noise to input data value.
boost::shared_ptr< GaussianNoiseCompositorListener > gaussianNoiseCompositorListener
Gaussian noise compositor listener.
Definition: GaussianNoiseModel.hh:140
void SetStdDev(const double _stddev)
Set stddev.
virtual void Fini()
Finalize the noise model.
Ogre::CompositorInstance * gaussianNoiseInstance
Gaussian noise compositor.
Definition: GaussianNoiseModel.hh:136
double bias
If type starts with GAUSSIAN, the bias we'll add.
Definition: GaussianNoiseModel.hh:95
virtual void Load(sdf::ElementPtr _sdf)
Load noise parameters from sdf.
virtual void Print(std::ostream &_out) const
Documentation inherited.
double GetMean() const
Accessor for mean.
double GetBias() const
Accessor for bias.
virtual void Load(sdf::ElementPtr _sdf)
Load noise parameters from sdf.
virtual ~ImageGaussianNoiseModel()
Destructor.
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
virtual ~GaussianNoiseModel()
Destructor.
GaussianNoiseModel()
Constructor.
double GetStdDev() const
Accessor for stddev.