wheelsSensor.hpp

Go to the documentation of this file.

#ifndef PACSIMWHEELSSENSOR_HPP
#define PACSIMWHEELSSENSOR_HPP
 
#include "configParser.hpp"
#include "sensorBase.hpp"
#include "types.hpp"
#include <queue>
#include <random>
 
class WheelsSensor : public SensorBase<Wheels>
{
public:
    WheelsSensor(double rate, double deadTime);
 
    void readConfig(ConfigElement& config);
 
    bool RunTick(Wheels& in, Eigen::Vector3d& trans, Eigen::Vector3d& rot, double time);
 
    Wheels applyError(Wheels input);
 
private:
    double error_mean;
    double error_sigma;
};
 
#endif /* PACSIMWHEELSSENSOR_HPP */