#ifndef __ADXRS150_H__
#define __ADXRS150_H__

#include "sensor_err.h"

class ADXRS150 : public SensorErrorModel<double>{
  
  public:
    // ノイズ関連
    static const double BETA;
    static const double ROOT_N;
    static const double WN_SLOPE;
    static const double WN_INTERCEPT;

    // その他特性
    static const double SF;

  public:
    ADXRS150() : SensorErrorModel<double>(ROOT_N, BETA){}
    double convert(const double &true_value, const double &delta){
      return next(delta) 
                + rand_regularized(0, pow(delta, WN_SLOPE) * WN_INTERCEPT) 
                + true_value;
    }
};

const double ADXRS150::BETA = 0.016;
const double ADXRS150::ROOT_N = 0.00008;
const double ADXRS150::WN_SLOPE = -0.438498;
const double ADXRS150::WN_INTERCEPT = 0.000476415;
const double ADXRS150::SF = 12.5E-3;  // [V/°/sec]

#endif /* __ADXRS150_H__ */