MarkovUncertaintyModel.h

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/*
Bias and noise model header file
 
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"exclude" : True}
*/
 
#ifndef MODELS_SUPPORT_MARKOV_UNCERTAINTY_MODEL_H
#define MODELS_SUPPORT_MARKOV_UNCERTAINTY_MODEL_H
 
#include "simulation/Model.h"
#include "simulation/NormalRandom.hpp"
 
namespace warptwin {

    MODEL(MarkovUncertaintyModel)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(bias_initial,            double,                 0.0)
            SIGNAL(bias_random_walk_std,    double,                 0.0)
            SIGNAL(noise_std,               double,                 0.0)
            SIGNAL(scale_factor_std,        double,                 0.0)
            SIGNAL(rate_hz,                 double,                 0.0)
            SIGNAL(seed_value,              int,                    0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            SIGNAL(input_val,               double,                 0.0)
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_val,              double,                 0.0)
        END_OUTPUTS

        void setBias(double new_bias);
        double getBias();
 
    protected:
        int16 start() override;
        int16 execute() override;

        NormalRandom<double> *_rng = nullptr;

        double _bias;
        double _bias_drift;

        double _scale_factor;
        double _noise;

        double _sqrt_time_step;
    };
 
}
 
#endif