urcl::CalibrationChecker Class Reference

The CalibrationChecker class consumes primary packages ignoring all but KinematicsInfo packages. These are then checked against the used kinematics to see if the correct calibration is used. More...

#include <calibration_checker.h>

Inheritance diagram for urcl::CalibrationChecker:

Public Member Functions
	CalibrationChecker (const std::string &expected_hash)
	Creates a new CalibrationChecker object with an expected hash calculated from the used kinematics. More...
bool	checkSuccessful ()
	Returns whether the calibration check was successful. More...
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 the expected hash, an error is logged. More...
bool	isChecked ()
	Used to make sure the calibration check is not performed several times. More...
virtual void	onTimeout ()
	Handles timeouts. More...
virtual void	setupConsumer ()
	Empty setup function, as no setup is needed. More...
virtual void	stopConsumer ()
	Stops the consumer. More...
virtual void	teardownConsumer ()
	Tears down the consumer. More...
virtual	~CalibrationChecker ()=default
Public Member Functions inherited from urcl::comm::IConsumer< primary_interface::PrimaryPackage >
virtual	~IConsumer ()=default

Private Attributes
bool	checked_
std::string	expected_hash_
bool	matches_

Detailed Description

The CalibrationChecker class consumes primary packages ignoring all but KinematicsInfo packages. These are then checked against the used kinematics to see if the correct calibration is used.

Definition at line 42 of file calibration_checker.h.

Constructor & Destructor Documentation

CalibrationChecker()

urcl::CalibrationChecker::CalibrationChecker

(

const std::string &

expected_hash

)

Creates a new CalibrationChecker object with an expected hash calculated from the used kinematics.

Parameters

expected_hash

The expected kinematics hash

Definition at line 33 of file calibration_checker.cpp.

~CalibrationChecker()

virtual urcl::CalibrationChecker::~CalibrationChecker ( )

virtualdefault

Member Function Documentation

checkSuccessful()

bool urcl::CalibrationChecker::checkSuccessful ( )

inline

Returns whether the calibration check was successful.

Returns

True if the robot's calibration checksum matches the one given to the checker. False if it doesn't match or the check was not yet performed.

Definition at line 107 of file calibration_checker.h.

consume()

bool urcl::CalibrationChecker::consume ( std::shared_ptr< primary_interface::PrimaryPackage >  product )

virtual

Consumes a package, checking its hash if it is a KinematicsInfo package. If the hash does not match the expected hash, an error is logged.

Parameters

product

The package to consume

Returns

True, if the package was consumed correctly

Implements urcl::comm::IConsumer< primary_interface::PrimaryPackage >.

Definition at line 37 of file calibration_checker.cpp.

isChecked()

bool urcl::CalibrationChecker::isChecked ( )

inline

Used to make sure the calibration check is not performed several times.

Returns

True, if the calibration was already checked, false otherwise

Definition at line 96 of file calibration_checker.h.

onTimeout()

virtual void urcl::CalibrationChecker::onTimeout ( )

inlinevirtual

Handles timeouts.

Reimplemented from urcl::comm::IConsumer< primary_interface::PrimaryPackage >.

Definition at line 77 of file calibration_checker.h.

setupConsumer()

virtual void urcl::CalibrationChecker::setupConsumer ( )

inlinevirtual

Empty setup function, as no setup is needed.

Reimplemented from urcl::comm::IConsumer< primary_interface::PrimaryPackage >.

Definition at line 59 of file calibration_checker.h.

stopConsumer()

virtual void urcl::CalibrationChecker::stopConsumer ( )

inlinevirtual

Stops the consumer.

Reimplemented from urcl::comm::IConsumer< primary_interface::PrimaryPackage >.

Definition at line 71 of file calibration_checker.h.

teardownConsumer()

virtual void urcl::CalibrationChecker::teardownConsumer ( )

inlinevirtual

Tears down the consumer.

Reimplemented from urcl::comm::IConsumer< primary_interface::PrimaryPackage >.

Definition at line 65 of file calibration_checker.h.

Member Data Documentation

checked_

bool urcl::CalibrationChecker::checked_

private

Definition at line 114 of file calibration_checker.h.

expected_hash_

std::string urcl::CalibrationChecker::expected_hash_

private

Definition at line 113 of file calibration_checker.h.

matches_

bool urcl::CalibrationChecker::matches_

private

Definition at line 115 of file calibration_checker.h.

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

• calibration_checker.h
• calibration_checker.cpp