Pose noise
This modifier allows to simulate Gaussian noise for pose measurements.
If the variable orientation exists, it is taken to be a unit quaternion
and noise added to it. Otherwise rotational noise will be added to the roll,
pitch and yaw variables.
Files
- Python: $MORSE_ROOT/src/morse/modifiers/pose_noise.py
Modified data
It modifies so the following variables :
- x: add Gaussian noise with std dev pos_std (default: 0.05)
- y: add Gaussian noise with std dev pos_std (default: 0.05)
- z: add Gaussian noise with std dev pos_std (default: 0.05)
- orientation: assumed to be a unit quaternion and multiplied with
a noise quaternion with std dev ros_std (default: 5 degrees)
- roll: add Gaussian noise with std dev rot_std (default: 5 deg)
- pitch: add Gaussian noise with std dev rot_std (default: 5 deg)
- yaw: add Gaussian noise with std dev rot_std (default: 5 deg)
Available methods
- noisify: Simulate noise for translation and rotation of a pose measurement.
By passing a dictionary with pos_std and/or rot_std the applied
noise can be configured.