/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * 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 GZ_SENSORS_GAUSSIANNOISEMODEL_HH_
#define GZ_SENSORS_GAUSSIANNOISEMODEL_HH_

#include <gz/utils/ImplPtr.hh>
#include <sdf/sdf.hh>

#include "gz/sensors/config.hh"
#include "gz/sensors/Export.hh"
#include "gz/sensors/Noise.hh"

namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {

    /** \class GaussianNoiseModel GaussianNoiseModel.hh \
    gz/sensors/GaussianNoiseModel.hh
    **/
    /// \brief Gaussian noise class
    class GZ_SENSORS_VISIBLE GaussianNoiseModel : public Noise
    {
      /// \brief Constructor.
      public: GaussianNoiseModel();

      /// \brief Destructor.
      public: virtual ~GaussianNoiseModel();

      // Documentation inherited.
      public: virtual void Load(const sdf::Noise &_sdf) override;

      // Documentation inherited.
      public: double ApplyImpl(double _in, double _dt) override;

      /// \brief Accessor for mean.
      /// \return Mean of Gaussian noise.
      public: double Mean() const;

      /// \brief Accessor for stddev.
      /// \return Standard deviation of Gaussian noise.
      public: double StdDev() const;

      /// \brief Accessor for bias.
      /// \return Bias on output.
      public: double Bias() const;

      /// Documentation inherited
      public: virtual void Print(std::ostream &_out) const override;

      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
  }
  }
}

#endif
