CData Class Reference

Holds the information for linear conversion of raw glove senor readings to dof values. More...

#include <gloveInterface.h>

List of all members.

Public Member Functions
void	addToIntercept (int d, double val)
void	addToSlope (int d, int s, double val)
	CData (int nd, int ns)
double	getIntercept (int d)
double	getSlope (int d, int s)
void	reset ()
void	setIntercept (int d, double val)
void	setSlope (int d, int s, double val)
	~CData ()
Private Attributes
double *	intercepts
int	nDOF
int	nSensors
double *	slopes

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Detailed Description

Holds the information for linear conversion of raw glove senor readings to dof values.

The CData (stands for conversion data) class holds the information for converting raw glove readings to dof values. The conversions are all linear, so for each sensor, we store a slope and an intercept. It does not know how to match sensors with individual dof's. It also contains a couple of convenience functions to help calibration.

In general, any glove sensor can affect any robot dof, there is not a 1-to-1 mapping. The slopes store the effect that each glove sensor has on each robot dof. It is therefore a sparse nd x ns matrix, where nd is the number of dofs and ns is the number of sensors. The intercepts are specific to each dof.

In general, the value of the dof d is obtained by: dof_d = intercepts_d + sum_over_all_sensors_s[slope(s,d) * raw_sensor(s)]

Definition at line 113 of file gloveInterface.h.

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Constructor & Destructor Documentation

CData::CData	(	int	nd,
		int	ns
	)

Definition at line 275 of file gloveInterface.cpp.

CData::~CData

(

)

Definition at line 284 of file gloveInterface.cpp.

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Member Function Documentation

void CData::addToIntercept	(	int	d,
		double	val
	)

Definition at line 326 of file gloveInterface.cpp.

void CData::addToSlope	(	int	d,
		int	s,
		double	val
	)

Definition at line 317 of file gloveInterface.cpp.

double CData::getIntercept

(

int

d

)

Definition at line 343 of file gloveInterface.cpp.

double CData::getSlope	(	int	d,
		int	s
	)

Definition at line 334 of file gloveInterface.cpp.

void CData::reset

(

)

Definition at line 290 of file gloveInterface.cpp.

void CData::setIntercept	(	int	d,
		double	val
	)

Definition at line 308 of file gloveInterface.cpp.

void CData::setSlope	(	int	d,
		int	s,
		double	val
	)

Definition at line 299 of file gloveInterface.cpp.

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Member Data Documentation

double * CData::intercepts [private]

Definition at line 115 of file gloveInterface.h.

int CData::nDOF [private]

Definition at line 116 of file gloveInterface.h.

int CData::nSensors [private]

Definition at line 116 of file gloveInterface.h.

double* CData::slopes [private]

Definition at line 115 of file gloveInterface.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/gloveInterface.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/gloveInterface.cpp