calibration.hpp

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#ifndef _SR_CALIBRATION_HPP_
#define _SR_CALIBRATION_HPP_

#include <iostream>
#include <vector>

namespace joint_calibration
{
  struct Point
  {
    double raw_value;
    double calibrated_value;
  };

  static bool sort_growing_raw_operator(const Point& p1, const Point& p2)
  {
    return p1.raw_value < p2.raw_value;
  }
}

namespace shadow_robot
{
  class JointCalibration
  {
  public:
    JointCalibration(std::vector<joint_calibration::Point> calibration_table);
    ~JointCalibration();

    double compute(double raw_reading);

    friend std::ostream& operator<<(std::ostream& out, const JointCalibration& calib )
    {
      out << " calibration = {";
      out << "size: " << calib.calibration_table_size_;
      for( unsigned int i=0; i< calib.calibration_table_.size(); ++i)
      {
        out << " [raw: " << calib.calibration_table_[i].raw_value;
        out << ", cal: " << calib.calibration_table_[i].calibrated_value<<"]";
      }
      out << " }";
      return out;
    };

  private:
    std::vector<joint_calibration::Point> calibration_table_;
    unsigned int calibration_table_size_;
  };
}

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

#endif