Class CalibrationChecker

Defined in File calibration_checker.h

Inheritance Relationships

Base Type

public urcl::comm::IConsumer< primary_interface::PrimaryPackage > (Template Class IConsumer)

Class Documentation

class CalibrationChecker : public urcl::comm::IConsumer<primary_interface::PrimaryPackage>

The CalibrationChecker class consumes primary packages ignoring all but KinematicsInfo packages. These are then checked against the used kinematics to see if the correct calibration is used.

Public Functions

CalibrationChecker(const std::string &expected_hash)

Creates a new CalibrationChecker object with an expected hash calculated from the used kinematics.

Parameters:: expected_hash – The expected kinematics hash

virtual ~CalibrationChecker() = default

inline virtual void setupConsumer(): Empty setup function, as no setup is needed.

inline virtual void teardownConsumer(): Tears down the consumer.

inline virtual void stopConsumer(): Stops the consumer.

inline virtual void onTimeout(): Handles timeouts.

virtual bool consume(std::shared_ptr<primary_interface::PrimaryPackage> product)

Consumes a package, checking its hash if it is a KinematicsInfo package. If the hash does not match the expected hash, an error is logged.

Parameters:: product – The package to consume
Returns:: True, if the package was consumed correctly

inline bool isChecked()

Used to make sure the calibration check is not performed several times.

Returns:: True, if the calibration was already checked, false otherwise

inline bool checkSuccessful()

Returns whether the calibration check was successful.

Returns:: True if the robot’s calibration checksum matches the one given to the checker. False if it doesn’t match or the check was not yet performed.