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 joint_calibration

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

  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_;
};
}  // namespace shadow_robot

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

#endif