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+/* noise.h -- noisy data
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_NOISE_H
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_NOISE_H
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <random>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include "csv.h"
+#include "measurement.h"
+
+
+// Noise sources //
+
+template<typename RealType = double>
+class GaussianNoiseSource {
+public:
+    inline GaussianNoiseSource(RealType mean, RealType stddev);
+    inline RealType get();
+
+private:
+    std::mt19937 generator;
+    std::normal_distribution<RealType> distribution;
+};
+
+/* Convenience function to construct a GaussianNoiseSource<float> from a
+ * two-element float vector representing mean and standard deviation.
+ * Throws a std::invalid_argument if the vector is of the wrong
+ * length. */
+inline GaussianNoiseSource<float> gaussian(const std::vector<float>);
+
+
+// Noisy values //
+
+// Adds noise to a value.
+Pose addNoise(const Pose &, GaussianNoiseSource<float> &positionNoise,
+              GaussianNoiseSource<float> &angleNoise);
+ControlSignals addNoise(const ControlSignals &,
+                        GaussianNoiseSource<float> &speedNoise,
+                        GaussianNoiseSource<float> &steeringAngleNoise);
+LidarDatum addNoise(const LidarDatum &,
+                    GaussianNoiseSource<float> &distanceNoise,
+                    GaussianNoiseSource<float> &intensityNoise);
+
+
+#include "noise-inl.h"
+
+#endif