#include <xml_calibration_parser.h>

Classes
struct	Calibration
struct	JointCalibration
Public Member Functions
float	get_calibration_value (float position, std::string joint_name)
std::vector< JointCalibration >	getJointsCalibrations ()
	XmlCalibrationParser ()
	XmlCalibrationParser (std::string path_to_calibration)
	~XmlCalibrationParser ()
Protected Types
typedef std::map< std::string, std::vector< float > >	mapType
Protected Member Functions
int	build_calibration_table ()
std::vector< float >	calibration_to_lookup_table (std::vector< Calibration > calib)
float	compute_lookup_value (int index, std::vector< Calibration > calib)
float	linear_interpolate (float x, float x0, float y0, float x1, float y1)
void	parse_calibration_file (TiXmlNode *pParent)
std::vector< Calibration >	parse_joint_attributes (TiXmlNode *pParent)
int	return_index_from_raw_position (float raw_position)
int	round (float number)
Static Protected Member Functions
static float	return_raw_position_from_index (int lookup_index)
Protected Attributes
mapType	joints_calibrations_map
std::vector< JointCalibration >	jointsCalibrations
	The vector containing the calibration.
Static Protected Attributes
static const float	lookup_offset = 1.0f
static const float	lookup_precision = 1000.0f

Detailed Description

Definition at line 52 of file xml_calibration_parser.h.

Member Typedef Documentation

typedef std::map<std::string, std::vector<float> > xml_calibration_parser::XmlCalibrationParser::mapType [protected]

Definition at line 83 of file xml_calibration_parser.h.

Constructor & Destructor Documentation

xml_calibration_parser::XmlCalibrationParser::XmlCalibrationParser ( ) [inline]

Definition at line 55 of file xml_calibration_parser.h.

xml_calibration_parser::XmlCalibrationParser::XmlCalibrationParser ( std::string path_to_calibration )

The constructor: parses the given file and stores the calibration in the vector std::vector<JointCalibration> jointsCalibrations.

Parameters:

path_to_calibration the path to the xml calibration file. Please note that it is best to use ros parameters to set the path in your code calling this constructor.

Definition at line 58 of file xml_calibration_parser.cpp.

xml_calibration_parser::XmlCalibrationParser::~XmlCalibrationParser ( ) [inline]

Definition at line 57 of file xml_calibration_parser.h.

Member Function Documentation

int xml_calibration_parser::XmlCalibrationParser::build_calibration_table ( ) [protected]

Transform the calibration values to a lookup table for fast processing of the calibration process. NB: the lookup table ranges from 0 to +lookup_offset with a precision of 1/lookup_precision.

Definition at line 175 of file xml_calibration_parser.cpp.

std::vector<float> xml_calibration_parser::XmlCalibrationParser::calibration_to_lookup_table ( std::vector< Calibration > calib ) [protected]

float xml_calibration_parser::XmlCalibrationParser::compute_lookup_value	(	int	index,
		std::vector< Calibration >	calib
	)		`[protected]`

return the value to store in the lookup table for a given index, using the calibration information.

Parameters:

index	the index for which we compute the value
calib	the vector containing the calibration informations (a list of raw_value <=> calibrated_value)

Returns:: the value to be stored in the lookup table

Definition at line 225 of file xml_calibration_parser.cpp.

float xml_calibration_parser::XmlCalibrationParser::get_calibration_value	(	float	position,
		std::string	joint_name
	)

Definition at line 264 of file xml_calibration_parser.cpp.

std::vector< XmlCalibrationParser::JointCalibration > xml_calibration_parser::XmlCalibrationParser::getJointsCalibrations ( )

Definition at line 317 of file xml_calibration_parser.cpp.

float xml_calibration_parser::XmlCalibrationParser::linear_interpolate	(	float	x,
		float	x0,
		float	y0,
		float	x1,
		float	y1
	)		`[protected]`

Definition at line 282 of file xml_calibration_parser.cpp.

void xml_calibration_parser::XmlCalibrationParser::parse_calibration_file ( TiXmlNode * pParent ) [protected]

Parses the calibration file and retreive the full calibration for the cyberglove.

Parameters:

pParent The parent node (Cyberglove_calibration) containing all the xml tree.

Definition at line 82 of file xml_calibration_parser.cpp.

std::vector< XmlCalibrationParser::Calibration > xml_calibration_parser::XmlCalibrationParser::parse_joint_attributes ( TiXmlNode * pParent ) [protected]