LidarRayAngleGaussianNoise.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
 
#include <agxSensor/LidarRayDistortion.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES(LidarRayAngleGaussianNoise);
 
  class AGXSENSOR_EXPORT LidarRayAngleGaussianNoise : public LidarRayDistortion
  {
    public:
      enum Axis : agx::UInt8
      {
        AXIS_X = 1,
        AXIS_Y = 2,
        AXIS_Z = 3
      };
 
    public:
      LidarRayAngleGaussianNoise() = default;
 
      explicit LidarRayAngleGaussianNoise(
        agx::Real mean, agx::Real std, LidarRayAngleGaussianNoise::Axis axis, agx::UInt32 seed = 783u);
 
      explicit LidarRayAngleGaussianNoise(agx::Real mean, agx::Real std, agx::Vec3 axisVector, agx::UInt32 seed = 783u);
 
      void setMean(agx::Real mean);
 
      agx::Real getMean() const;
 
      void setStandardDeviation(agx::Real std);
 
      agx::Real getStandardDeviation() const;
 
      void setAxis(LidarRayAngleGaussianNoise::Axis axis);
 
      LidarRayAngleGaussianNoise::Axis getAxis() const;
 
      void setAxisVector(const agx::Vec3& axisVector);
 
      const agx::Vec3& getAxisVector() const;
 
      void setSeed(agx::UInt32 seed);
 
      agx::UInt32 getSeed() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual RtNode* createNode() override;
      virtual void synchronize(RtSystemNodeProxy& node, const CallbackData& data) override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarRayAngleGaussianNoise);
 
    private:
      RtNode* updatePerturbation(RtNode* node);
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      agx::Real m_mean = 0.0f;
      agx::Real m_std = 0.01f;
      agx::Vec3 m_axisVector = {1.0, 0.0, 0.0};
      agx::UInt32 m_seed = 783u;
  };
}