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GaussianNoiseModel: avoid calling DblNormal with invalid standard deviation #396

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merged 2 commits into from
Oct 27, 2023
Merged

GaussianNoiseModel: avoid calling DblNormal with invalid standard deviation #396

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7323780
Avoid calling DblNormal with invalid standard deviation
oysstu Oct 13, 2023
1216651
Merge branch 'main' into fix/gaussian_noise_zero_stddev
mjcarroll Oct 23, 2023
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10 changes: 7 additions & 3 deletions src/GaussianNoiseModel.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,10 @@ void GaussianNoiseModel::Load(const sdf::Noise &_sdf)
double biasStdDev = 0;
biasMean = _sdf.BiasMean();
biasStdDev = _sdf.BiasStdDev();
this->dataPtr->bias = math::Rand::DblNormal(biasMean, biasStdDev);
if (biasStdDev > 0.0)
this->dataPtr->bias = math::Rand::DblNormal(biasMean, biasStdDev);
else
this->dataPtr->bias = biasMean;

// With equal probability, we pick a negative bias (by convention,
// rateBiasMean should be positive, though it would work fine if
Expand All @@ -108,8 +111,9 @@ void GaussianNoiseModel::Load(const sdf::Noise &_sdf)
double GaussianNoiseModel::ApplyImpl(double _in, double _dt)
{
// Generate independent (uncorrelated) Gaussian noise to each input value.
double whiteNoise = math::Rand::DblNormal(
this->dataPtr->mean, this->dataPtr->stdDev);
double whiteNoise = this->dataPtr->stdDev > 0.0 ?
math::Rand::DblNormal(this->dataPtr->mean, this->dataPtr->stdDev) :
this->dataPtr->mean;

// Generate varying (correlated) bias to each input value.
// This implementation is based on the one available in Rotors:
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