chrono::sensor::ChNoiseRandomWalks Class Reference

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.
 
 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.
 
 ~ChNoiseRandomWalks ()
 Class destructor.
 
virtual void AddNoise (ChVector3d &data)
 Function for adding noise to data.
 
virtual void AddNoise (ChVector3d &data, float last_ch_time, float ch_time)
 Function for adding noise over a time interval.
 
- Public Member Functions inherited from chrono::sensor::ChNoiseModel
 ChNoiseModel ()
 Class constructor.
 
 ~ChNoiseModel ()
 Class destructor.
 

Constructor & Destructor Documentation

◆ ChNoiseRandomWalks() [1/2]

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

Class constructor with default tuning parameters.

Parameters
meanThe mean of the normal distribution of the acceleration that is integrated twice to provide the random walk
sigmaThe standard deviation of the normal distribution of the acceleration that is integrated twice to provide the random walk
noise_model_update_rateThe update rate of the noise model which defines the integration step size. Note: This is different from the sensor update rate.
gps_referenceThe reference position of the GPS

◆ ChNoiseRandomWalks() [2/2]

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
meanThe mean of the normal distribution of the acceleration that is integrated twice to provide the random walk
sigmaThe standard deviation of the normal distribution of the acceleration that is integrated twice to provide the random walk
noise_model_update_rateThe update rate of the noise model which defines the integration step size. Note: This is different from the sensor update rate.
max_velocityThe maximum allowable velocity for the random walk
max_accelerationThe maximum allowable acceleration for the random walk
gps_referenceThe reference position of the GPS

Member Function Documentation

◆ AddNoise() [1/2]

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

Function for adding noise to data.

Parameters
datadata to augment

Implements chrono::sensor::ChNoiseModel.

◆ AddNoise() [2/2]

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

Function for adding noise over a time interval.

Parameters
datadata to augment
last_ch_timethe last time the data was updated
ch_timethe current time

Implements chrono::sensor::ChNoiseModel.


The documentation for this class was generated from the following files:
  • C:/M/B/src/chrono-9.0.1/src/chrono_sensor/sensors/ChNoiseModel.h
  • C:/M/B/src/chrono-9.0.1/src/chrono_sensor/sensors/ChNoiseModel.cpp