Obbart/universal_robots_ros_driver
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added unit tests for calibration

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This commit is contained in:
Felix Mauch
2019-03-11 22:15:49 +01:00
parent d2eb7a8683
commit 792cdc3a08
6 changed files with 154 additions and 53 deletions
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12
include/ur_rtde_driver/calibration.h
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@@ -134,7 +134,7 @@ struct DHRobot
class Calibration
{
public:
Calibration();
Calibration(const DHRobot& robot);
virtual ~Calibration();
/*!
@@ -148,6 +148,11 @@ public:
*/
static void debugChain(const KDL::Chain& chain);
/*!
* \brief Creates a \p KDL::Chain representation of the member \p robot_parameters_
*/
KDL::Chain getChain();
private:
/*!
* \brief Splits the given chain \p in into a subchain before \p split_index and after.
@@ -170,11 +175,6 @@ private:
*/
static DHRobot chainToDH(const KDL::Chain& chain);
/*!
* \brief Creates a \p KDL::Chain representation of the member \p robot_parameters_
*/
KDL::Chain getChain();
/*!
* \brief Modifies the robot chain at segment \p correction_index
*