GaussMarkovProcess.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// 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 __GAUSS_MARKOV_PROCESS_HH__
#define __GAUSS_MARKOV_PROCESS_HH__

#include <gazebo/gazebo.hh>
#include <cstdlib>
#include <ctime>
#include <random>

namespace gazebo
{
  class GaussMarkovProcess
  {
    public: GaussMarkovProcess();

    public: void Reset();

    public: bool SetModel(double _mean, double _min, double _max,
        double _mu = 0, double _noise = 0);

    public: bool SetMean(double _mean);

    public: double var;

    public: double mean;

    public: double min;

    public: double max;

    public: double mu;

    public: double noiseAmp;

    public: double lastUpdate;

    public: double Update(double _time);

    public: void Print();
  };
}

#endif  // __GAUSS_MARKOV_PROCESS_HH__