Package dlife.robot.player.noise

Classes and interfaces that support sensor noise in Player/Stage simulations.

See:
Description

Class Summary

GaussianNoise	Adds Guassian noise to sensor values.
NoiseProfile<T extends Serializable>	Abstract base class used to add noise to a device.

Exception Summary

IncompatibleNoiseProfileException

Exception that is thrown when attempting to add a NoiseProfile with an incompatible PlayerDeviceConfiguration.

Package dlife.robot.player.noise Description

Classes and interfaces that support sensor noise in Player/Stage simulations. The Player/Stage simulation system has some variability in the duration of simulation time steps but no build in mechanism for adding sensor noise. This package allows for the addition of noise to sensors in Player/Stage simulations controlled via dLife.

To add noise to a sensor within a Player/Stage simulation a NoiseProfile object must be provided when the sensor is added to the robot. For example, the following code shows how to create a PlayerSimulation that uses a Hemisson robot with Gaussian noise on its proximity sensors:

// Create the simulation object.
PlayerSimulation mySim = new PlayerSimulation(...);

// Add a hemisson robot at (0,0) with orientation 90.
mySim.addRobot("hemi1", HemissonPlayer.class, 0, 0, 90, Color.BLUE);

// Add the proximity sensor with GaussianNoise with mean 1 and standard deviation 1.
mySim.addDeviceToRobot("hemi1", HemissonPlayer.PLAYER_PROXIMITY_CONFIG, 
    new GaussianNoise(1.0f, 1.0f));

The following Player/Stage examples all include noise on at least some sensor values:

• examples.dlife.robot.player.BuildDlifeSimulation
• examples.dlife.robot.player.PlayerSimulationK2Braitenberg
• examples.dlife.robot.player.PlayerMultipleRobots