Program Listing for File angle_compensator.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
//
// Angle Compensator for Nav Scanner
//
#ifndef SICK_SCAN_ANGLE_COMPENSATOR_H
#define SICK_SCAN_ANGLE_COMPENSATOR_H
#include <string>
#include <vector>
#include <assert.h>
class AngleCompensator
{
public:
double compensateAngleInRadFromRos(double angleInRadFromRos);
double compensateAngleInRad(double angleInRad);
double compensateAngleInDeg(double angleInDeg);
int parseAsciiReply(const char *asciiReply);
int parseReply(bool isBinary, std::vector<unsigned char>& replyVec);
std::string getHumanReadableFormula(void);
void testbed();
AngleCompensator()
{
assert(0); // forbidden!
}
AngleCompensator(bool _useNegSign)
{
useNegSign = _useNegSign;
}
private:
double amplCorr;
double phaseCorrInDeg;
double offsetCorrInDeg;
double phaseCorrInRad;
double offsetCorrInRad;
bool useNegSign; // for NAV310
};
#endif //SICK_SCAN_ANGLE_COMPENSATOR_H