measuresConverter.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
 
/* Copyright (C) 2012  iCub Facility, Istituto Italiano di Tecnologia
 * Author: Valentina Gaggero
 * email: valentina.gaggero@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
// update comment hereafter
 
#include <yarp/dev/ControlBoardHelper.h>
#include <yarp/dev/ControlBoardPid.h>
 
#ifndef __measureConverterh__
#define __measureConverterh__
 
class measureConvFactors
{
public:
    double* angleToEncoder;
    double* dutycycleToPWM;
    double* ampsToSensor;
    double* newtonsToSensor;
    double* bemf2raw;
    double* ktau2raw;
 
    measureConvFactors(int numofjoints);
 
    ~measureConvFactors();
};
 
#endif