Description

GPS Noise model based on Random Walks.

#include <ChNoiseModel.h>

Inheritance diagram for chrono::sensor::ChNoiseRandomWalks:

Collaboration diagram for chrono::sensor::ChNoiseRandomWalks:

Public Member Functions
	ChNoiseRandomWalks (float mean, float sigma, float noise_model_update_rate, ChVector3d gps_reference)
	Class constructor with default tuning parameters. More...

	ChNoiseRandomWalks (float mean, float sigma, float noise_model_update_rate, double max_velocity, double max_acceleration, ChVector3d gps_reference)
	Class constructor with custom tuning parameters. More...

	~ChNoiseRandomWalks ()
	Class destructor.

virtual void	AddNoise (ChVector3d &data)
	Function for adding noise to data. More...

virtual void	AddNoise (ChVector3d &data, float last_ch_time, float ch_time)
	Function for adding noise over a time interval. More...

Public Member Functions inherited from chrono::sensor::ChNoiseModel
	ChNoiseModel ()
	Class constructor.

	~ChNoiseModel ()
	Class destructor.

Constructor & Destructor Documentation

chrono::sensor::ChNoiseRandomWalks::ChNoiseRandomWalks	(	float	mean,
		float	sigma,
		float	noise_model_update_rate,
		ChVector3d	gps_reference
	)

Class constructor with default tuning parameters.

Parameters

mean	The mean of the normal distribution of the acceleration that is integrated twice to provide the random walk
sigma	The standard deviation of the normal distribution of the acceleration that is integrated twice to provide the random walk
noise_model_update_rate	The update rate of the noise model which defines the integration step size. Note: This is different from the sensor update rate.
gps_reference	The reference position of the GPS

chrono::sensor::ChNoiseRandomWalks::ChNoiseRandomWalks	(	float	mean,
		float	sigma,
		float	noise_model_update_rate,
		double	max_velocity,
		double	max_acceleration,
		ChVector3d	gps_reference
	)

Class constructor with custom tuning parameters.

Parameters

mean	The mean of the normal distribution of the acceleration that is integrated twice to provide the random walk
sigma	The standard deviation of the normal distribution of the acceleration that is integrated twice to provide the random walk
noise_model_update_rate	The update rate of the noise model which defines the integration step size. Note: This is different from the sensor update rate.
max_velocity	The maximum allowable velocity for the random walk
max_acceleration	The maximum allowable acceleration for the random walk
gps_reference	The reference position of the GPS

virtual void chrono::sensor::ChNoiseRandomWalks::AddNoise ( ChVector3d & data )

inlinevirtual

Function for adding noise to data.

Parameters

data	data to augment

void chrono::sensor::ChNoiseRandomWalks::AddNoise	(	ChVector3d &	data,
		float	last_ch_time,
		float	ch_time
	)

virtual

Function for adding noise over a time interval.

Parameters

data	data to augment
last_ch_time	the last time the data was updated
ch_time	the current time

The documentation for this class was generated from the following files: