PoseNoise
=========


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.

This modifier attempts to alter data ``x``, ``y`` and ``z`` for position, 
and either ``orientation`` or ``yaw``, ``pitch`` and ``roll`` for orientation. 

The PoseNoise modifier provides as modifiers:

* :py:class:`morse.modifiers.pose_noise.PositionNoiseModifier`
* :py:class:`morse.modifiers.pose_noise.OrientationNoiseModifier`
* :py:class:`morse.modifiers.pose_noise.PoseNoiseModifier`



.. cssclass:: properties morse-section

Configuration parameters for PoseNoise
--------------------------------------


You can set these parameters in your scripts with ``<component>.alter('PoseNoise', <property1>=..., <property2>=...)``.

- ``pos_std`` (dict, default: ``{'x': 0.05, 'y': 0.05, 'z': 0.05}``)
	Standard deviation for position noise as dictionary with x,y,z as floats
- ``rot_std`` (dict, default: ``{'roll': 0.08726646259971647, 'pitch': 0.08726646259971647, 'yaw': 0.08726646259971647}``)
	Standard deviation for rotation noise of roll,pitch,yaw axes as floats in radians
- ``_2D`` (bool, default: ``False``)
	If True, noise is only applied to 2D pose attributes (i.e., x, y and yaw)


.. cssclass:: files morse-section

Sources of examples
-------------------

- `Source code <../../_modules/morse/modifiers/pose_noise.html>`_
- `Unit-test <../../_modules/base/pose_noise_testing.html>`_




*(This page has been auto-generated from MORSE module morse.modifiers.pose_noise.)*