Public Member Functions
double	compute (double raw_reading)

	JointCalibration (std::vector< joint_calibration::Point > calibration_table)

Private Attributes
std::vector< joint_calibration::Point >	calibration_table_

unsigned int	calibration_table_size_

Friends
std::ostream &	operator<< (std::ostream &out, const JointCalibration &calib)

Detailed Description

This class is used to compute the calibrated joint position, given a raw ADC sensor reading, using a N-point piecewise linear calibration table.

Definition at line 69 of file calibration.hpp.

Constructor & Destructor Documentation

shadow_robot::JointCalibration::JointCalibration ( std::vector< joint_calibration::Point > calibration_table )

explicit

Definition at line 41 of file calibration.cpp.

double shadow_robot::JointCalibration::compute ( double raw_reading )

Computes the calibrated joint position from the ADC raw reading.

Parameters

raw_reading the reading from the ADC

the two points from the calibration which we'll use to do the linear interpolation.

Definition at line 69 of file calibration.cpp.

friend

Overload the << operator, for easier debugging.

Definition at line 86 of file calibration.hpp.

std::vector<joint_calibration::Point> shadow_robot::JointCalibration::calibration_table_

private

The calibration table. The vector is ordered by growing values of the raw_data

Definition at line 97 of file calibration.hpp.

unsigned int shadow_robot::JointCalibration::calibration_table_size_

private

The size of the calibration table, used for quick access

Definition at line 108 of file calibration.hpp.

The documentation for this class was generated from the following files: