#include <calibration.hpp>

Public Member Functions
double	compute (double raw_reading)

	JointCalibration (std::vector< joint_calibration::Point > calibration_table)

Private Attributes
std::vector< joint_calibration::Point >	calibration_table_

unsigned int	calibration_table_size_

Friends
std::ostream &	operator<< (std::ostream &out, const JointCalibration &calib)

Detailed Description

This class is used to compute the calibrated joint position, given a raw ADC sensor reading, using a N-point piecewise linear calibration table.

Definition at line 69 of file calibration.hpp.

Constructor & Destructor Documentation

◆ JointCalibration()

shadow_robot::JointCalibration::JointCalibration ( std::vector< joint_calibration::Point > calibration_table )

explicit

Definition at line 41 of file calibration.cpp.

Member Function Documentation

◆ compute()

double shadow_robot::JointCalibration::compute ( double raw_reading )

Computes the calibrated joint position from the ADC raw reading.

Parameters

raw_reading the reading from the ADC

Returns: the calibrated joint position in radians.

the two points from the calibration which we'll use to do the linear interpolation.

Definition at line 69 of file calibration.cpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	out,
		const JointCalibration &	calib
	)

friend

Overload the << operator, for easier debugging.

Definition at line 86 of file calibration.hpp.

Member Data Documentation

◆ calibration_table_

std::vector<joint_calibration::Point> shadow_robot::JointCalibration::calibration_table_

private

The calibration table. The vector is ordered by growing values of the raw_data

Definition at line 97 of file calibration.hpp.

◆ calibration_table_size_

unsigned int shadow_robot::JointCalibration::calibration_table_size_

private

The size of the calibration table, used for quick access

Definition at line 108 of file calibration.hpp.

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

Public Member Functions

Private Attributes

Friends