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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
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