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RaySensorNoisePlugin.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PLUGINS_RAYSENSORNOISEPLUGIN_HH_
#define GAZEBO_PLUGINS_RAYSENSORNOISEPLUGIN_HH_
#include "gazebo/common/Plugin.hh"
#include "gazebo/sensors/SensorTypes.hh"
#include "gazebo/sensors/RaySensor.hh"
#include "gazebo/gazebo.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE RaySensorNoisePlugin : public SensorPlugin
{
public: RaySensorNoisePlugin();
public: virtual ~RaySensorNoisePlugin();
public: virtual double OnApplyNoise(double _in);
public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
private: double fixedNoiseRate;
private: int sign;
};
}
#endif
gazebo::sensors::SensorPtr
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::RaySensorNoisePlugin
A Ray Sensor Noise Plugin.
Definition: RaySensorNoisePlugin.hh:30
SensorTypes.hh
Forward declarations and typedefs for sensors.
system.hh
gazebo.hh
gazebo::SensorPlugin
A plugin with access to physics::Sensor. See reference.
Definition: Plugin.hh:332
RaySensor.hh
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59