A data structure for conveniently storing hand data used for calibration. More...
#include <gloveInterface.h>
Public Member Functions | |
| CalibrationPose (int size, double *joints, int *map) | |
| CalibrationPose (int size) | |
| double * | getAllJointValues () |
| int * | getAllMaps () |
| int * | getAllSensorValues () |
| double | getJointValue (int i) |
| int | getMap (int i) |
| int | getSensorValue (int i) |
| int | getSize () |
| transf | getTransf () |
| bool | isSet () |
| Tells us if this pose is ready to be used (i.e. all the required data has been set). | |
| void | readFromFile (FILE *fp) |
| void | setAllJointValues (double *jv) |
| void | setAllMaps (int *m) |
| void | setAllSensorValues (int *sv) |
| void | setJointValue (int j, double jv) |
| void | setMap (int i, int mv) |
| void | setSensorValue (int i, int sv) |
| void | setTransf (transf t) |
| void | writeToFile (FILE *fp) |
| ~CalibrationPose () | |
Public Attributes | |
| bool | jointsSet |
| bool | mapSet |
| QString | miscInfo |
| Some misc. info you might need later. Actually used to store object file name for grasp poses. | |
| bool | poseSet |
| double | recordedDistance |
| Used for thumb calibration to record the expected distance between the index and the thumb. | |
| bool | sensorsSet |
Private Member Functions | |
| void | init (int size) |
| Initializes an empty pose with no recorded information. | |
Private Attributes | |
| double * | jointValues |
| A set of joint values that the given sensor values should correspond to. | |
| int | mSize |
| The number of raw sensor values from the glove. Usually hard-coded to 24. | |
| transf | mTransf |
| A transform that is associated with this pose, for doing calibrations wrt objects or using flocks. | |
| int * | sensorMap |
| Tells us to which robot DOF number each CyberGlove sensor is related to. | |
| int * | sensorValues |
| A set of raw sensor values that the given joint values should correspond to. | |
A data structure for conveniently storing hand data used for calibration.
A calibration pose matches a set of joint values to a set of raw sensor readings (individual CyberGlove joint readings) for a given pose. It is ready to be used if both joint values and raw sensor values have been set.
Definition at line 45 of file gloveInterface.h.
| CalibrationPose::CalibrationPose | ( | int | size | ) |
Definition at line 71 of file gloveInterface.cpp.
| CalibrationPose::CalibrationPose | ( | int | size, | |
| double * | joints, | |||
| int * | map | |||
| ) |
Definition at line 76 of file gloveInterface.cpp.
| CalibrationPose::~CalibrationPose | ( | ) |
Definition at line 86 of file gloveInterface.cpp.
| double* CalibrationPose::getAllJointValues | ( | ) | [inline] |
Definition at line 75 of file gloveInterface.h.
| int* CalibrationPose::getAllMaps | ( | ) | [inline] |
Definition at line 79 of file gloveInterface.h.
| int* CalibrationPose::getAllSensorValues | ( | ) | [inline] |
Definition at line 77 of file gloveInterface.h.
| double CalibrationPose::getJointValue | ( | int | i | ) | [inline] |
Definition at line 74 of file gloveInterface.h.
| int CalibrationPose::getMap | ( | int | i | ) | [inline] |
Definition at line 78 of file gloveInterface.h.
| int CalibrationPose::getSensorValue | ( | int | i | ) | [inline] |
Definition at line 76 of file gloveInterface.h.
| int CalibrationPose::getSize | ( | ) | [inline] |
Definition at line 84 of file gloveInterface.h.
| transf CalibrationPose::getTransf | ( | ) | [inline] |
Definition at line 80 of file gloveInterface.h.
| void CalibrationPose::init | ( | int | size | ) | [private] |
Initializes an empty pose with no recorded information.
Definition at line 49 of file gloveInterface.cpp.
| bool CalibrationPose::isSet | ( | ) |
Tells us if this pose is ready to be used (i.e. all the required data has been set).
Definition at line 215 of file gloveInterface.cpp.
| void CalibrationPose::readFromFile | ( | FILE * | fp | ) |
Definition at line 93 of file gloveInterface.cpp.
| void CalibrationPose::setAllJointValues | ( | double * | jv | ) |
Definition at line 220 of file gloveInterface.cpp.
| void CalibrationPose::setAllMaps | ( | int * | m | ) |
Definition at line 254 of file gloveInterface.cpp.
| void CalibrationPose::setAllSensorValues | ( | int * | sv | ) |
Definition at line 235 of file gloveInterface.cpp.
| void CalibrationPose::setJointValue | ( | int | j, | |
| double | jv | |||
| ) |
Definition at line 229 of file gloveInterface.cpp.
| void CalibrationPose::setMap | ( | int | i, | |
| int | mv | |||
| ) |
Definition at line 263 of file gloveInterface.cpp.
| void CalibrationPose::setSensorValue | ( | int | i, | |
| int | sv | |||
| ) |
Definition at line 244 of file gloveInterface.cpp.
| void CalibrationPose::setTransf | ( | transf | t | ) | [inline] |
Definition at line 72 of file gloveInterface.h.
| void CalibrationPose::writeToFile | ( | FILE * | fp | ) |
Definition at line 141 of file gloveInterface.cpp.
Definition at line 85 of file gloveInterface.h.
double* CalibrationPose::jointValues [private] |
A set of joint values that the given sensor values should correspond to.
Definition at line 50 of file gloveInterface.h.
Definition at line 85 of file gloveInterface.h.
| QString CalibrationPose::miscInfo |
Some misc. info you might need later. Actually used to store object file name for grasp poses.
Definition at line 91 of file gloveInterface.h.
int CalibrationPose::mSize [private] |
The number of raw sensor values from the glove. Usually hard-coded to 24.
Definition at line 48 of file gloveInterface.h.
transf CalibrationPose::mTransf [private] |
A transform that is associated with this pose, for doing calibrations wrt objects or using flocks.
Definition at line 58 of file gloveInterface.h.
Definition at line 85 of file gloveInterface.h.
Used for thumb calibration to record the expected distance between the index and the thumb.
Definition at line 88 of file gloveInterface.h.
int* CalibrationPose::sensorMap [private] |
Tells us to which robot DOF number each CyberGlove sensor is related to.
A map of -1 means this sensor is not calibrated by this pose (like for example the thumb, which this calibration poses ignore)
Definition at line 56 of file gloveInterface.h.
Definition at line 85 of file gloveInterface.h.
int* CalibrationPose::sensorValues [private] |
A set of raw sensor values that the given joint values should correspond to.
Definition at line 52 of file gloveInterface.h.
