error_simulation.h

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#ifndef ERROR_SIMULATION_H
#define ERROR_SIMULATION_H

#include <geometry_msgs/Pose.h>

namespace fake_object_recognition {

const static double DEFAULT_PROB_POSE_INVAL(0.01);

const static double DEFAULT_POS_NOISE_MEAN(0.0);

const static double DEFAULT_POS_NOISE_DEV(0.005);

const static double DEFAULT_OR_X_NOISE_MEAN(0.0);

const static double DEFAULT_OR_X_NOISE_DEV(0.02);

const static double DEFAULT_OR_Y_NOISE_MEAN(0.0);

const static double DEFAULT_OR_Y_NOISE_DEV(0.02);

const static double DEFAULT_OR_Z_NOISE_MEAN(0.0);

const static double DEFAULT_OR_Z_NOISE_DEV(0.02);

class ErrorSimulation {

    bool use_pose_invalidation_;

    bool use_position_noise_;

    bool use_orientation_noise_;

    double prob_pose_inval_;

    double pos_noise_dist_mean_;

    double pos_noise_dist_dev_;


    double or_x_noise_dist_mean_;

    double or_x_noise_dist_dev_;

    double or_y_noise_dist_mean_;

    double or_y_noise_dist_dev_;

    double or_z_noise_dist_mean_;

    double or_z_noise_dist_dev_;


    double genUniformNumber(double interval_start, double interval_end);

    double genNormalDistNumber(double mean, double std_deviation);


public:
    ErrorSimulation();

    ErrorSimulation(bool use_pose_invalidation, bool use_position_noise, bool use_orientation_noise);

    bool poseInvalidation();

    geometry_msgs::Pose addNoiseToPosition(const geometry_msgs::Pose &pose);

    geometry_msgs::Pose addNoiseToOrientation(const geometry_msgs::Pose &pose);

    void setProbPoseInval(double prob_pose_inval);

    void setPoseNoiseDistMean(double pos_noise_dist_mean);

    void setPoseNoiseDistDev(double pos_noise_dist_dev);

    void setOrXNoiseDistMean(double or_x_noise_dist_mean);

    void setOrXNoiseDistDev(double or_x_noise_dist_dev);

    void setOrYNoiseDistMean(double or_y_noise_dist_mean);

    void setOrYNoiseDistDev(double or_y_noise_dist_dev);

    void setOrZNoiseDistMean(double or_z_noise_dist_mean);

    void setOrZNoiseDistDev(double or_z_noise_dist_dev);
};

}

#endif /* ERROR_SIMULATION_H */