GaussianNoise.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <time.h>
#include <random>

namespace ct {
namespace core {


class GaussianNoise
{
public:

    GaussianNoise(double mean = 0.0, double standardDeviation = 1.0)
        : rd_(), eng_(rd_()), distr_(mean, standardDeviation)
    {
    }


    double operator()() { return distr_(eng_); }

    template <size_t size>
    Eigen::Matrix<double, size, 1> gen()
    {
        Eigen::Matrix<double, size, 1> noise;

        for (size_t i = 0; i < size; i++)
        {
            noise(i) = distr_(eng_);
        }

        return noise;
    }

    void noisify(double& value) { value += this->operator()(); }

    template <size_t size>
    void noisify(Eigen::Matrix<double, size, 1>& value)
    {
        value += this->gen<size>();
    }


private:
    std::random_device rd_;
    std::mt19937 eng_;
    std::normal_distribution<> distr_;
};


}  // namespace ct
}  // namespace core