noisydofmover.h

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#ifndef VART_NOISYDOFMOVER_H
#define VART_NOISYDOFMOVER_H

#include "vart/dofmover.h"

namespace VART {
    class NoisyDofMover : public DofMover {
        friend class JointMover;
        friend class Action;
        public:
        // PUBLIC STATIC METHODS
            static void SetDefaultNoiseAmplitude(float value);
            static void SetDefaultNoiseWaveLenght(float value);
            static void SetDefaultOvershoot(float value);
            static void SetDefaultOffset(float value);
            static void SetDefaultPeakTime(float value);
        // PUBLIC METHODS
            //~ /// \brief Sets main positional error attributes (overshoot and offset)
            //~ void SetPositionalError(float newOvershoot, float newOffset);
            //~ /// \brief Set all positional error attributes
            //~ void SetPositionalError(float newOvershoot, float newOffset, float newPeakTime);

            void SetNoise(float newNoiseAmplitude, float newNoiseWaveLenght);

            void SetOvershoot(float amplitude, float peak);

            void SetOffset(float newOffset);
        protected:
        // PROTECTED METHODS
            NoisyDofMover();
            virtual void Initialize(float iniTime, float finTime, float finPos);
            virtual void Move();
            float Noise();
            float PositionalError();
            float Random();
        // PROTECTED STATIC ATTRIBUTES
            static float defaultNoiseAmplitude;
            static float defaultNoiseWaveLenght;
            static float defaultOvershoot;
            static float defaultOffset;
            static float defaultPeakTime;
        // PROTECTED ATTRIBUTES
            float noiseAmplitude; // in DOF position range

            float noiseWaveLenght;

            float nextSubGoalTime;

            float previousSubGoalTime;

            float nextSubGoalPosition;

            float previousSubGoalPosition;

            float offset;

            float overshoot;

            float peakTime;
            float overshootRange;
            float finalRange;
            float overshootPosition;
            bool hasOvershoot;
            bool hasNoise;
    }; // end class declaration
} // end namespace

#endif