Program Listing for File noise_model.hpp

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/* Author: David V. Lu!! */

#pragma once

#include <rclcpp/rclcpp.hpp>
#include <nav_2d_msgs/msg/twist2_d.hpp>
#include <random>

namespace base2d_kinematics
{
class NoiseModel
{
public:
  NoiseModel(double mean_x, double stddev_x, double mean_y, double stddev_y, double mean_theta, double stddev_theta);
  NoiseModel(const std::vector<double>& six_params);
  NoiseModel(const rclcpp::Node::SharedPtr& node, const std::string& param_prefix = "");

  virtual nav_2d_msgs::msg::Twist2D applyNoise(const nav_2d_msgs::msg::Twist2D& base);

  std::array<double, 36> getCovarianceMatrix() const;

protected:
  std::normal_distribution<double> noise_x_, noise_y_, noise_theta_;
};
}  // namespace base2d_kinematics