rokubimini::calibration::SensorCalibration Class Reference

The SensorCalibration class is used for holding the calibration information of each rokubi mini sensor. More...

#include <SensorCalibration.hpp>

Public Types
using	NodeHandlePtr = std::shared_ptr< ros::NodeHandle >

Public Member Functions
Eigen::Matrix< double, 6, 6 > &	getCalibrationMatrix ()
const Eigen::Matrix< double, 6, 6 > &	getCalibrationMatrix () const
	Gets the calibration matrix. More...
const uint32_t	getPassPhrase () const
	Gets the passphrase. More...
bool	load (const std::string &key, const NodeHandlePtr &nh)
	Loads the calibrations from the parameter server. More...
	SensorCalibration ()=default
	Default constructor. More...
void	setCalibrationMatrix (const Eigen::Matrix< double, 6, 6 > &calibrationMatrix)
	Sets the calibration matrix. More...
void	setPassPhrase (const uint32_t passphrase)
	Sets the passphrase. More...
	~SensorCalibration ()=default

Private Attributes
Eigen::Matrix< double, 6, 1 >	accelerationOffset_
	The matrix for the acceleration. More...
Eigen::Matrix< double, 6, 1 >	angularRateOffset_
	The offset matrix for the angular rate. More...
Eigen::Matrix< double, 6, 6 >	calibrationMatrix_
	The calibration matrix. More...
Eigen::Matrix< double, 6, 1 >	calibrationOffset_
	The calibration offset matrix. More...
Eigen::Matrix< double, 10, 1 >	inertia_
	The inertia matrix. More...
uint32_t	passphrase_ { 0x87654321 }
	The passphrase. More...
Eigen::Matrix< double, 6, 1 >	temperatureGain_
	The temperature gain matrix. More...
Eigen::Matrix< double, 2, 1 >	thermistorCalibration_
	The thermistor calibration matrix. More...

Detailed Description

The SensorCalibration class is used for holding the calibration information of each rokubi mini sensor.

Definition at line 16 of file SensorCalibration.hpp.

Member Typedef Documentation

NodeHandlePtr

using rokubimini::calibration::SensorCalibration::NodeHandlePtr = std::shared_ptr<ros::NodeHandle>

Definition at line 19 of file SensorCalibration.hpp.

Constructor & Destructor Documentation

SensorCalibration()

rokubimini::calibration::SensorCalibration::SensorCalibration ( )

default

Default constructor.

This method constructs a SensorCalibration.

~SensorCalibration()

rokubimini::calibration::SensorCalibration::~SensorCalibration ( )

default

Member Function Documentation

getCalibrationMatrix() [1/2]

Eigen::Matrix<double, 6, 6>& rokubimini::calibration::SensorCalibration::getCalibrationMatrix ( )

inline

Definition at line 84 of file SensorCalibration.hpp.

getCalibrationMatrix() [2/2]

Eigen::Matrix< double, 6, 6 > & rokubimini::calibration::SensorCalibration::getCalibrationMatrix ( ) const

inline

Gets the calibration matrix.

Non-const version of getCalibrationMatrix() const. Gets the calibration matrix.

Returns

The calibration matrix.

Definition at line 72 of file SensorCalibration.hpp.

getPassPhrase()

const uint32_t rokubimini::calibration::SensorCalibration::getPassPhrase ( ) const

inline

Gets the passphrase.

Returns

The passphrase.

Definition at line 48 of file SensorCalibration.hpp.

load()

bool rokubimini::calibration::SensorCalibration::load	(	const std::string &	key,
		const NodeHandlePtr &	nh
	)

Loads the calibrations from the parameter server.

Parameters

key	The key to search in the parameter server.
nh	The ROS NodeHandle to access the parameter server.

Returns

True if the calibrations were loaded successfully.

Definition at line 7 of file SensorCalibration.cpp.

setCalibrationMatrix()

void rokubimini::calibration::SensorCalibration::setCalibrationMatrix ( const Eigen::Matrix< double, 6, 6 > &  calibrationMatrix )

inline

Sets the calibration matrix.

Parameters

calibrationMatrix

The calibration matrix.

Definition at line 96 of file SensorCalibration.hpp.

setPassPhrase()

void rokubimini::calibration::SensorCalibration::setPassPhrase ( const uint32_t  passphrase )

inline

Sets the passphrase.

Parameters

passphrase

The passphrase to be set.

Definition at line 60 of file SensorCalibration.hpp.

Member Data Documentation

accelerationOffset_

Eigen::Matrix< double, 6, 1 > rokubimini::calibration::SensorCalibration::accelerationOffset_

private

The matrix for the acceleration.

Definition at line 155 of file SensorCalibration.hpp.

angularRateOffset_

Eigen::Matrix< double, 6, 1 > rokubimini::calibration::SensorCalibration::angularRateOffset_

private

The offset matrix for the angular rate.

Definition at line 163 of file SensorCalibration.hpp.

calibrationMatrix_

Eigen::Matrix< double, 6, 6 > rokubimini::calibration::SensorCalibration::calibrationMatrix_

private

The calibration matrix.

Definition at line 112 of file SensorCalibration.hpp.

calibrationOffset_

Eigen::Matrix< double, 6, 1 > rokubimini::calibration::SensorCalibration::calibrationOffset_

private

The calibration offset matrix.

Definition at line 126 of file SensorCalibration.hpp.

inertia_

Eigen::Matrix< double, 10, 1 > rokubimini::calibration::SensorCalibration::inertia_

private

The inertia matrix.

Definition at line 171 of file SensorCalibration.hpp.

passphrase_

uint32_t rokubimini::calibration::SensorCalibration::passphrase_ { 0x87654321 }

private

The passphrase.

Definition at line 106 of file SensorCalibration.hpp.

temperatureGain_

Eigen::Matrix< double, 6, 1 > rokubimini::calibration::SensorCalibration::temperatureGain_

private

The temperature gain matrix.

Definition at line 147 of file SensorCalibration.hpp.

thermistorCalibration_

Eigen::Matrix< double, 2, 1 > rokubimini::calibration::SensorCalibration::thermistorCalibration_

private

The thermistor calibration matrix.

Definition at line 140 of file SensorCalibration.hpp.

---

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

• SensorCalibration.hpp
• SensorCalibration.cpp