scalarValueSensor.hpp

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