00001 /************************************************************************************* 00002 * Copyright (c) 2010, Christian Wressnegger 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * * Redistributions of source code must retain the above copyright 00008 * notice, this list of conditions and the following disclaimer. 00009 * * Redistributions in binary form must reproduce the above copyright 00010 * notice, this list of conditions and the following disclaimer in the 00011 * documentation and/or other materials provided with the distribution. 00012 * * The names of its contributors may not be used to endorse or promote products 00013 * derived from this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00016 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00017 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00018 * DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY 00019 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00020 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00021 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00022 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00023 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00024 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00025 *************************************************************************************/ 00026 00027 #ifndef __GLOVE_CALIB_CYBERGLOVELINEARCALIBRATION_H_ 00028 #define __GLOVE_CALIB_CYBERGLOVELINEARCALIBRATION_H_ 00029 00030 #include <string> 00031 #include <vector> 00032 00033 #include "../devices/CyberGlove.hpp" 00034 00035 namespace glove { 00036 namespace calib { 00037 00044 class CyberGloveLinearCalibration: public glove::devices::CyberGlove::Calibration { 00045 protected: 00047 std::vector<double> gain; 00049 std::vector<double> offset; 00050 00051 public: 00056 CyberGloveLinearCalibration(std::string configFile = ""); 00060 virtual ~CyberGloveLinearCalibration(); 00061 00068 void setGain(const glove::devices::CyberGlove::Finger f, 00069 const glove::devices::CyberGlove::Joint j, double d); 00077 void setGain(const glove::devices::CyberGlove::Sensor s, double d); 00082 void setGain(std::vector<double> v); 00083 00090 void setOffset(const glove::devices::CyberGlove::Finger f, 00091 const glove::devices::CyberGlove::Joint j, double d); 00099 void setOffset(const glove::devices::CyberGlove::Sensor s, double d); 00104 void setOffset(std::vector<double> v); 00105 00111 virtual void fromFile(std::string configFile); 00117 virtual void toFile(std::string configFile); 00118 00122 virtual double map(const glove::devices::CyberGlove::Sensor s, const double value); 00123 }; 00124 00125 } 00126 } 00127 00128 #endif /* __GLOVE_CALIB_CYBERGLOVELINEARCALIBRATION_H_ */
1.5.8