Public Member Functions
double	convertoV (double A)
	convertoV Function responsible for convert the analog signal to the equivalent voltage. More...

double	curveCalibration (uint sensor_id, double value)
	curveCalibration Function responsible for convert the voltage signal to distance. Diferent sensors have diferent calibration curves. More...

double	getPitch (Plane p)
	getPitch Function responsible for calculate the plane pitch. More...

double	getPitch (Plane p)
	getPitch Function responsible for calculate the plane pitch. More...

Plane	getPlane (vector< double > values)
	getPlane Function responsible for calculate the plane acording to the given points. More...

Plane	getPlane (vector< double > values)
	getPlane Function responsible for calculate the plane acording to the given points. More...

double	getRoll (Plane p)
	getRoll Function responsible for calculate the plane roll. More...

double	getRoll (Plane p)
	getRoll Function responsible for calculate the plane roll. More...

void	readParameters (string parameters_file)
	readParameters Function responsible for read the parameters from yaml file. More...

void	readParameters (string parameters_file)
	readParameters Function responsible for read the parameters from yaml file. More...

void	readParameters (string parameters_file)
	readParameters Function responsible for read the parameters from yaml file. More...

	SharpMath ()
	Class constructor. More...

	SharpMath ()
	Class constructor. More...

	SharpMath ()
	Class constructor. More...

void	writeParameters (string parameters_file)
	writeParameters Function responsible for write the parameters to yaml file. More...

Public Attributes
vector< double >	pitch_bias

vector< double >	roll_bias

Private Attributes
uint	number_sensors

double	pitch_bias

double	roll_bias

vector< Eigen::VectorXd >	sensors_curve_parameters

vector< Eigen::Vector2d >	sensors_positions

Detailed Description

SharpMath.

This class is responsible for convert the analog read signal to the equivalent distance, calibration. Is also responsible to open and read the calibration parameters from yaml file.

This class is responsible for calculate the plane to obtain the orientation. Is also responsible to open and write the calibration parameters from yaml file.

Definition at line 100 of file orientation_base.cpp.

Constructor & Destructor Documentation

SharpMath::SharpMath ( )

inline

Class constructor.

Do nothing

Definition at line 108 of file orientation_base.cpp.

SharpMath::SharpMath ( )

inline

Class constructor.

Do nothing

Definition at line 469 of file orientation_calibration.cpp.

SharpMath::SharpMath ( )

inline

Class constructor.

Do nothing

Definition at line 107 of file orientation_preception_base.cpp.

Member Function Documentation

double SharpMath::convertoV ( double A )

inline

convertoV Function responsible for convert the analog signal to the equivalent voltage.

Parameters

A	- double with the analog signal.

Returns: double with the voltage convertion.

Definition at line 154 of file orientation_base.cpp.

double SharpMath::curveCalibration	(	uint	sensor_id,
		double	value
	)

inline

curveCalibration Function responsible for convert the voltage signal to distance. Diferent sensors have diferent calibration curves.

Parameters

sensor_id	- uint with the number of the sensor.
value	- double with the volage value.

Returns: double with the distance.

Definition at line 166 of file orientation_base.cpp.

double SharpMath::getPitch ( Plane p )

inline

getPitch Function responsible for calculate the plane pitch.

Parameters

p	- Plane with the plane coeficients.

Returns: double with the pitch angle.

Definition at line 202 of file orientation_preception_base.cpp.

double SharpMath::getPitch ( Plane p )

inline

getPitch Function responsible for calculate the plane pitch.

Parameters

p	- Plane with the plane coeficients.

Returns: double with the pitch angle.

Definition at line 569 of file orientation_calibration.cpp.

Plane SharpMath::getPlane ( vector< double > values )

inline

getPlane Function responsible for calculate the plane acording to the given points.

Parameters

values - vector(double) with the sensors readings.

Returns: Plane with the plane coeficients.

Definition at line 154 of file orientation_preception_base.cpp.

Plane SharpMath::getPlane ( vector< double > values )

inline

getPlane Function responsible for calculate the plane acording to the given points.

Parameters

values - vector(double) with the sensors readings.

Returns: Plane with the plane coeficients.

Definition at line 519 of file orientation_calibration.cpp.

double SharpMath::getRoll ( Plane p )

inline

getRoll Function responsible for calculate the plane roll.

Parameters

p	- Plane with the plane coeficients.

Returns: double with the roll angle.

Definition at line 217 of file orientation_preception_base.cpp.

double SharpMath::getRoll ( Plane p )

inline

getRoll Function responsible for calculate the plane roll.

Parameters

p	- Plane with the plane coeficients.

Returns: double with the roll angle.

Definition at line 584 of file orientation_calibration.cpp.

void SharpMath::readParameters ( string parameters_file )

inline

readParameters Function responsible for read the parameters from yaml file.

Parameters

parameters_file - file url.

Definition at line 115 of file orientation_preception_base.cpp.

void SharpMath::readParameters ( string parameters_file )

inline

readParameters Function responsible for read the parameters from yaml file.

Parameters

parameters_file - file url.

Definition at line 118 of file orientation_base.cpp.

void SharpMath::readParameters ( string parameters_file )

inline

readParameters Function responsible for read the parameters from yaml file.

Parameters

parameters_file - file url.

Definition at line 478 of file orientation_calibration.cpp.

void SharpMath::writeParameters ( string parameters_file )

inline

writeParameters Function responsible for write the parameters to yaml file.

Parameters

parameters_file - file url.

Definition at line 599 of file orientation_calibration.cpp.

Member Data Documentation

uint SharpMath::number_sensors

private

Definition at line 238 of file orientation_base.cpp.

double SharpMath::pitch_bias

private

Definition at line 242 of file orientation_base.cpp.

vector<double> SharpMath::pitch_bias

Definition at line 630 of file orientation_calibration.cpp.

double SharpMath::roll_bias

private

Definition at line 243 of file orientation_base.cpp.

vector<double> SharpMath::roll_bias

Definition at line 631 of file orientation_calibration.cpp.

vector< Eigen::VectorXd > SharpMath::sensors_curve_parameters

private

Definition at line 240 of file orientation_base.cpp.

vector< Eigen::Vector2d > SharpMath::sensors_positions

private

Definition at line 239 of file orientation_base.cpp.

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

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation