Public Member Functions | Private Attributes | Friends | List of all members
shadow_robot::JointCalibration Class Reference

#include <calibration.hpp>

Public Member Functions

double compute (double raw_reading)
 JointCalibration (std::vector< joint_calibration::Point > calibration_table)

Private Attributes

std::vector< joint_calibration::Pointcalibration_table_
unsigned int calibration_table_size_


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)

Definition at line 41 of file calibration.cpp.

Member Function Documentation

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

Computes the calibrated joint position from the ADC raw reading.

raw_readingthe reading from the ADC
the calibrated joint position in radians.

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

Definition at line 69 of file calibration.cpp.

Friends And Related Function Documentation

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

Overload the << operator, for easier debugging.

Definition at line 86 of file calibration.hpp.

Member Data Documentation

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

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_

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:

Author(s): Ugo Cupcic
autogenerated on Tue Oct 13 2020 03:55:49