angle_compensator.h
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1 //
2 // Angle Compensator for Nav Scanner
3 //
4 
5 #ifndef SICK_SCAN_ANGLE_COMPENSATOR_H
6 #define SICK_SCAN_ANGLE_COMPENSATOR_H
7 
8 #include <string>
9 #include <vector>
10 #include <assert.h>
12 {
13 public:
14  double compensateAngleInRadFromRos(double angleInRadFromRos);
15  double compensateAngleInRad(double angleInRad);
16  double compensateAngleInDeg(double angleInDeg);
17  int parseAsciiReply(const char *asciiReply);
18  int parseReply(bool isBinary, std::vector<unsigned char>& replyVec);
19  std::string getHumanReadableFormula(void);
20  void testbed();
22  {
23  assert(0); // forbidden!
24  }
25  AngleCompensator(bool _useNegSign)
26  {
27  useNegSign = _useNegSign;
28  }
29 private:
30 
31  double amplCorr;
36  bool useNegSign; // for NAV310
37 
38 };
39 
40 
41 #endif //SICK_SCAN_ANGLE_COMPENSATOR_H
std::string getHumanReadableFormula(void)
double compensateAngleInRadFromRos(double angleInRadFromRos)
Compensate raw angle given in [RAD] in the ROS axis orientation system.
double compensateAngleInRad(double angleInRad)
Compensate raw angle given in [RAD].
double compensateAngleInDeg(double angleInDeg)
Compensate raw angle given in [DEG].
void testbed()
Testbed for angle compensation.
int parseAsciiReply(const char *asciiReply)
Parse ASCII reply.
AngleCompensator(bool _useNegSign)
int parseReply(bool isBinary, std::vector< unsigned char > &replyVec)
Parse reply of angle compensation values given the command MCAngleCompSin (see testbed) ...


sick_scan
Author(s): Michael Lehning , Jochen Sprickerhof , Martin Günther
autogenerated on Wed Sep 7 2022 02:25:06