calibration.cpp

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#include "sr_utilities/calibration.hpp"
#include "sr_utilities/sr_math_utils.hpp"

#include <boost/assert.hpp>
#include <algorithm>

#include <boost/foreach.hpp>
#include <iostream>

namespace shadow_robot
{
  JointCalibration::JointCalibration(std::vector<joint_calibration::Point> calibration_table)
  {
    this->calibration_table_ = calibration_table;
    //calibration size - 1 because we use this number to access the last value in the vector
    calibration_table_size_ = calibration_table.size() - 1;

    //fails if we have only one calibration point as it's not possible
    //to interpolate from one point
    BOOST_ASSERT(calibration_table_size_ > 0);

    /*
     * make sure that the given calibration table is ordered by
     * growing values of the raw_value
     */
    std::sort(this->calibration_table_.begin(), this->calibration_table_.end(), joint_calibration::sort_growing_raw_operator);
  }

  JointCalibration::~JointCalibration()
  {}

  double JointCalibration::compute(double raw_reading)
  {
    joint_calibration::Point low_point, high_point;

    //That takes care of computing a reading that's before
    // the calibration table as well as a reading that's in the
    // first calibration table case.
    low_point  = calibration_table_[0];
    high_point = calibration_table_[1];

    bool found = false;

    //if we have more than 2 points in our calibration table
    // or if the raw value isn't before the calibration table
    if( (raw_reading > calibration_table_[0].raw_value) )
    {
      if( (calibration_table_size_ > 1) )
      {
        for(unsigned int index_cal=1; index_cal < calibration_table_size_; ++index_cal)
        {
          if( (raw_reading >= calibration_table_[index_cal - 1].raw_value) &&
              (raw_reading < calibration_table_[index_cal].raw_value) )
          {
            low_point  = calibration_table_[index_cal - 1];
            high_point = calibration_table_[index_cal];

            found = true;
            break;
          }
        } //end for

        //the point is outside of the table
        if( !found )
        {
          low_point = calibration_table_[calibration_table_size_ - 1];
          high_point = calibration_table_[calibration_table_size_];
        }
      } // end if 2 values only in the table
    } //end if raw_reading before table

    return sr_math_utils::linear_interpolate_(raw_reading, low_point.raw_value,
                                              low_point.calibrated_value,
                                              high_point.raw_value,
                                              high_point.calibrated_value);
  }
}

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/