WsfSensorErrorModel.hpp

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// ****************************************************************************
// CUI
//
// The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
//
// Copyright 2016 Infoscitex, a DCS Company. All rights reserved.
//
// The use, dissemination or disclosure of data in this file is subject to
// limitation or restriction. See accompanying README and LICENSE for details.
// ****************************************************************************
 
#ifndef WSFSENSORERRORMODEL_HPP
#define WSFSENSORERRORMODEL_HPP
 
#include "wsf_export.h"
 
#include <memory>
 
#include "UtInput.hpp"
namespace ut
{
class Random;
}
 
#include "WsfObject.hpp"
#include "WsfObjectTypeList.hpp"
class WsfSimulation;
class WsfSensorMode;
class WsfSensorResult;
 
namespace wsf
{
class WSF_EXPORT SensorErrorModelBase : public WsfObject
{
public:
   bool         ProcessInput(UtInput& aInput) override;
   virtual bool Initialize(WsfSensorMode* aSensorModePtr);

   virtual void ApplyMeasurementErrors(WsfSensorResult& aResult) = 0;
 
   using SensorModelTypes = WsfObjectTypeList<SensorErrorModelBase>;

   SensorErrorModelBase* Clone() const override = 0;

   virtual bool IsNullModel() const { return false; }

   virtual bool IsStandardModel() const { return false; }
 
   bool DebugEnabled() const { return mDebugEnabled; }
 
   WsfSensorMode* GetSensorMode() const { return mSensorModePtr; }
   void           SetSensorMode(WsfSensorMode* aSensorModePtr) { mSensorModePtr = aSensorModePtr; }
 
private:
   bool           mDebugEnabled{false};
   WsfSensorMode* mSensorModePtr{nullptr};
};

template<typename ErrorType>
class SensorErrorModel : public SensorErrorModelBase
{
public:
   virtual std::unique_ptr<ErrorType> ComputeMeasurementErrors(WsfSensorResult& aResult) const = 0;

   virtual void ApplyMeasurementErrors(const ErrorType& aErrors, WsfSensorResult& aResult) = 0;
 
   void ApplyMeasurementErrors(WsfSensorResult& aResult) final
   {
      ApplyMeasurementErrors(*ComputeMeasurementErrors(aResult), aResult);
   }
};
 
} // namespace wsf
 
#endif