calibration.hpp
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00001 
00029 #ifndef _SR_CALIBRATION_HPP_
00030 #define _SR_CALIBRATION_HPP_
00031 
00032 #include <iostream>
00033 #include <vector>
00034 
00035 namespace joint_calibration
00036 {
00041   struct Point
00042   {
00043     double raw_value;
00044     double calibrated_value;
00045   };
00046 
00057   static bool sort_growing_raw_operator(const Point& p1, const Point& p2)
00058   {
00059     return p1.raw_value < p2.raw_value;
00060   }
00061 }
00062 
00063 namespace shadow_robot
00064 {
00069   class JointCalibration
00070   {
00071   public:
00072     JointCalibration(std::vector<joint_calibration::Point> calibration_table);
00073     ~JointCalibration();
00074 
00082     double compute(double raw_reading);
00083 
00087     friend std::ostream& operator<<(std::ostream& out, const JointCalibration& calib )
00088     {
00089       out << " calibration = {";
00090       out << "size: " << calib.calibration_table_size_;
00091       for( unsigned int i=0; i< calib.calibration_table_.size(); ++i)
00092       {
00093         out << " [raw: " << calib.calibration_table_[i].raw_value;
00094         out << ", cal: " << calib.calibration_table_[i].calibrated_value<<"]";
00095       }
00096       out << " }";
00097       return out;
00098     };
00099 
00100   private:
00105     std::vector<joint_calibration::Point> calibration_table_;
00109     unsigned int calibration_table_size_;
00110   };
00111 }
00112 
00113 /* For the emacs weenies in the crowd.
00114 Local Variables:
00115    c-basic-offset: 2
00116 End:
00117 */
00118 
00119 #endif
00120 


sr_utilities
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:08:44