offset_parser.h

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/*
 * Copyright (C) 2019 Michael Ferguson
 * Copyright (C) 2013-2014 Unbounded Robotics Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
// Author: Michael Ferguson
 
#ifndef ROBOT_CALIBRATION_CALIBRATION_OFFSET_PARSER_H
#define ROBOT_CALIBRATION_CALIBRATION_OFFSET_PARSER_H
 
#include <kdl/chain.hpp>
 
namespace robot_calibration
{
 
class CalibrationOffsetParser
{
public:
  CalibrationOffsetParser();
  virtual ~CalibrationOffsetParser() {}
 
  bool add(const std::string name);
 
  bool addFrame(const std::string name,
                bool calibrate_x, bool calibrate_y, bool calibrate_z,
                bool calibrate_roll, bool calibrate_pitch, bool calibrate_yaw);
 
  bool set(const std::string name, double value);
 
  bool setFrame(const std::string name,
                double x, double y, double z,
                double roll, double pitch, double yaw);
 
  bool initialize(double* free_params);
 
  bool update(const double* const free_params);
 
  double get(const std::string name) const;
 
  bool getFrame(const std::string name, KDL::Frame& offset) const;
 
  size_t size();
 
  bool reset();
 
  bool loadOffsetYAML(const std::string& filename);
 
  std::string getOffsetYAML();
 
  std::string updateURDF(const std::string& urdf);
 
private:
  // Names of parameters being calibrated. The order of this vector
  // is the same as the free_param order will be interpreted.
  std::vector<std::string> parameter_names_;
 
  // Names of frames being calibrated.
  std::vector<std::string> frame_names_;
 
  // Values of parameters from last update
  std::vector<double> parameter_offsets_;
 
  // Number of params being calibrated
  size_t num_free_params_;
 
  // No copy
  CalibrationOffsetParser(const CalibrationOffsetParser&);
  CalibrationOffsetParser& operator=(const CalibrationOffsetParser&);
};
 
}  // namespace robot_calibration
 
#endif  // ROBOT_CALIBRATION_CALIBRATION_OFFSET_PARSER_H