iCub-main
measuresConverter.cpp
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1 // -*- Mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2012 iCub Facility, Istituto Italiano di Tecnologia
5 * Authors: Valentina Gaggero
6 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
7 *
8 */
9 
10 #include "measuresConverter.h"
11 
12 
13 
15 {
16  angleToEncoder = new double [numofjoints];
17  dutycycleToPWM = new double [numofjoints];
18  ampsToSensor = new double [numofjoints];
19  newtonsToSensor = new double [numofjoints];
20  bemf2raw = new double [numofjoints];
21  ktau2raw = new double [numofjoints];
22 }
23 
25 {
26  if (angleToEncoder) delete [] angleToEncoder;
27  if (dutycycleToPWM) delete [] dutycycleToPWM;
28  if (ampsToSensor) delete [] ampsToSensor;
29  if (newtonsToSensor) delete [] newtonsToSensor;
30  if (bemf2raw) delete [] bemf2raw;
31  if (ktau2raw) delete [] ktau2raw;
32 
33  angleToEncoder = nullptr;
34  dutycycleToPWM = nullptr;
35  ampsToSensor = nullptr;
36  newtonsToSensor = nullptr;
37  ktau2raw = nullptr;
38  bemf2raw = nullptr;
39 }
40 
measureConvFactors(int numofjoints)