Public Member Functions | Private Attributes | List of all members
AngleCompensator Class Reference

#include <angle_compensator.h>

Public Member Functions

 AngleCompensator ()
 
 AngleCompensator (bool _useNegSign)
 
double compensateAngleInDeg (double angleInDeg)
 Compensate raw angle given in [DEG]. More...
 
double compensateAngleInRad (double angleInRad)
 Compensate raw angle given in [RAD]. More...
 
double compensateAngleInRadFromRos (double angleInRadFromRos)
 Compensate raw angle given in [RAD] in the ROS axis orientation system. More...
 
std::string getHumanReadableFormula (void)
 
int parseAsciiReply (const char *asciiReply)
 Parse ASCII reply. More...
 
int parseReply (bool isBinary, std::vector< unsigned char > &replyVec)
 Parse reply of angle compensation values given the command MCAngleCompSin (see testbed) More...
 
void testbed ()
 Testbed for angle compensation. More...
 

Private Attributes

double amplCorr
 
double offsetCorrInDeg
 
double offsetCorrInRad
 
double phaseCorrInDeg
 
double phaseCorrInRad
 
bool useNegSign
 

Detailed Description

Definition at line 11 of file angle_compensator.h.

Constructor & Destructor Documentation

◆ AngleCompensator() [1/2]

AngleCompensator::AngleCompensator ( )
inline

Definition at line 21 of file angle_compensator.h.

◆ AngleCompensator() [2/2]

AngleCompensator::AngleCompensator ( bool  _useNegSign)
inline

Definition at line 25 of file angle_compensator.h.

Member Function Documentation

◆ compensateAngleInDeg()

double AngleCompensator::compensateAngleInDeg ( double  angleInDeg)

Compensate raw angle given in [DEG].

Parameters
angleInDegraw angle in [DEG]

Definition at line 173 of file angle_compensator.cpp.

◆ compensateAngleInRad()

double AngleCompensator::compensateAngleInRad ( double  angleInRad)

Compensate raw angle given in [RAD].

Parameters
angleInRadraw angle in [RAD]

Definition at line 156 of file angle_compensator.cpp.

◆ compensateAngleInRadFromRos()

double AngleCompensator::compensateAngleInRadFromRos ( double  angleInRadFromRos)

Compensate raw angle given in [RAD] in the ROS axis orientation system.

Parameters
angleInRadraw angle in [RAD] (

Definition at line 116 of file angle_compensator.cpp.

◆ getHumanReadableFormula()

std::string AngleCompensator::getHumanReadableFormula ( void  )

Definition at line 342 of file angle_compensator.cpp.

◆ parseAsciiReply()

int AngleCompensator::parseAsciiReply ( const char *  replyStr)

Parse ASCII reply.

Parameters
replyStrholds reply with the angular compensation information

Definition at line 194 of file angle_compensator.cpp.

◆ parseReply()

int AngleCompensator::parseReply ( bool  isBinary,
std::vector< unsigned char > &  replyVec 
)

Parse reply of angle compensation values given the command MCAngleCompSin (see testbed)

Parameters
isBinaryreply is in binary format (true) or in ASCII format (false)
replyVecholds received byte array

Definition at line 268 of file angle_compensator.cpp.

◆ testbed()

void AngleCompensator::testbed ( )

Testbed for angle compensation.

Definition at line 370 of file angle_compensator.cpp.

Member Data Documentation

◆ amplCorr

double AngleCompensator::amplCorr
private

Definition at line 31 of file angle_compensator.h.

◆ offsetCorrInDeg

double AngleCompensator::offsetCorrInDeg
private

Definition at line 33 of file angle_compensator.h.

◆ offsetCorrInRad

double AngleCompensator::offsetCorrInRad
private

Definition at line 35 of file angle_compensator.h.

◆ phaseCorrInDeg

double AngleCompensator::phaseCorrInDeg
private

Definition at line 32 of file angle_compensator.h.

◆ phaseCorrInRad

double AngleCompensator::phaseCorrInRad
private

Definition at line 34 of file angle_compensator.h.

◆ useNegSign

bool AngleCompensator::useNegSign
private

Definition at line 36 of file angle_compensator.h.


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


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