iCub-main
measuresConverter.h
Go to the documentation of this file.
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  * Author: Valentina Gaggero
6  * email: valentina.gaggero@iit.it
7  * Permission is granted to copy, distribute, and/or modify this program
8  * under the terms of the GNU General Public License, version 2 or any
9  * later version published by the Free Software Foundation.
10  *
11  * A copy of the license can be found at
12  * http://www.robotcub.org/icub/license/gpl.txt
13  *
14  * This program is distributed in the hope that it will be useful, but
15  * WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
17  * Public License for more details
18  */
19 
20 // update comment hereafter
21 
40 #include <yarp/dev/ControlBoardHelper.h>
41 #include <yarp/dev/ControlBoardPid.h>
42 
43 #ifndef __measureConverterh__
44 #define __measureConverterh__
45 
47 {
48 public:
49  double* angleToEncoder;
50  double* dutycycleToPWM;
51  double* ampsToSensor;
52  double* newtonsToSensor;
53  double* bemf2raw;
54  double* ktau2raw;
55 
56  measureConvFactors(int numofjoints);
57 
59 };
60 
61 #endif
measureConvFactors(int numofjoints)