/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#include "Types.hh"

void gz::sim::setNoise(sdf::Noise &_noise,
    double _mean, double _meanBias, double _stdDev,
    double _stdDevBias, double _dynamicBiasStdDev,
    double _dynamicBiasCorrelationTime)
{
  _noise.SetMean(_mean);
  _noise.SetBiasMean(_meanBias);

  _noise.SetStdDev(_stdDev);
  _noise.SetBiasStdDev(_stdDevBias);

  _noise.SetDynamicBiasStdDev(_dynamicBiasStdDev);
  _noise.SetDynamicBiasCorrelationTime(_dynamicBiasCorrelationTime);
}
