calibration_checker.cpp
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1 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
2 
3 // -- BEGIN LICENSE BLOCK ----------------------------------------------
4 // Copyright 2019 FZI Forschungszentrum Informatik
5 // Created on behalf of Universal Robots A/S
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7 // Licensed under the Apache License, Version 2.0 (the "License");
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19 
20 //----------------------------------------------------------------------
27 //----------------------------------------------------------------------
28 
30 
31 namespace urcl
32 {
33 CalibrationChecker::CalibrationChecker(const std::string& expected_hash)
34  : expected_hash_(expected_hash), checked_(false), matches_(false)
35 {
36 }
37 bool CalibrationChecker::consume(std::shared_ptr<primary_interface::PrimaryPackage> product)
38 {
39  auto kin_info = std::dynamic_pointer_cast<primary_interface::KinematicsInfo>(product);
40  if (kin_info != nullptr)
41  {
42  // URCL_LOG_INFO("%s", product->toString().c_str());
43  //
44  matches_ = kin_info->toHash() == expected_hash_;
45 
46  checked_ = true;
47  }
48 
49  return true;
50 }
51 } // namespace urcl
urcl::CalibrationChecker::consume
virtual bool consume(std::shared_ptr< primary_interface::PrimaryPackage > product)
Consumes a package, checking its hash if it is a KinematicsInfo package. If the hash does not match t...
Definition: calibration_checker.cpp:37
calibration_checker.h
urcl
Definition: bin_parser.h:36
urcl::CalibrationChecker::CalibrationChecker
CalibrationChecker(const std::string &expected_hash)
Creates a new CalibrationChecker object with an expected hash calculated from the used kinematics.
Definition: calibration_checker.cpp:33
urcl::CalibrationChecker::matches_
bool matches_
Definition: calibration_checker.h:115
urcl::CalibrationChecker::checked_
bool checked_
Definition: calibration_checker.h:114
urcl::CalibrationChecker::expected_hash_
std::string expected_hash_
Definition: calibration_checker.h:113


ur_client_library
Author(s): Thomas Timm Andersen, Simon Rasmussen, Felix Exner, Lea Steffen, Tristan Schnell
autogenerated on Mon May 26 2025 02:35:58