Fawkes API Fawkes Development Version
pitch_calibration.h
1/***************************************************************************
2 * pitch_calibration.h - Calibrate pitch transform of the back laser
3 *
4 * Created: Tue 18 Jul 2017 16:47:17 CEST 16:47
5 * Copyright 2017 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6 ****************************************************************************/
7
8/* This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU Library General Public License for more details.
17 *
18 * Read the full text in the LICENSE.GPL file in the doc directory.
19 */
20
21#ifndef PITCH_CALIBRATION_H
22#define PITCH_CALIBRATION_H
23
24#include "laser_calibration.h"
25
27{
28public:
30 fawkes::tf::Transformer * tf_transformer,
32 std::string config_path);
33 virtual void calibrate();
34
35protected:
36 float get_new_pitch(float z, float old_pitch);
37
38protected:
39 /** The threshold of the mean of z to stop calibration */
40 constexpr static float threshold = 0.001;
41};
42
43#endif /* !PITCH_CALIBRATION_H */
Abstract base class for laser calibration.
Calibrate the pitch angle of the laser.
static constexpr float threshold
The threshold of the mean of z to stop calibration.
PitchCalibration(LaserInterface *laser, fawkes::tf::Transformer *tf_transformer, fawkes::NetworkConfiguration *config, std::string config_path)
Constructor.
virtual void calibrate()
The actual calibration.
float get_new_pitch(float z, float old_pitch)
Compute the new pitch based on the old pitch and the mean z.
Laser360Interface Fawkes BlackBoard Interface.
Remote configuration via Fawkes net.
Definition: netconf.h:50
Coordinate transforms between any two frames in a system.
Definition: transformer.h:65