21 #ifndef TIME_OFFSET_CALIBRATION_H
22 #define TIME_OFFSET_CALIBRATION_H
24 #include "laser_calibration.h"
33 std::string config_path);
Abstract base class for laser calibration.
Calibrate the time offset of a laser.
fawkes::MotorInterface * motor_
The motor interface used to control the rotation of the robot.
constexpr static float rotation_time_
The time to rotate.
constexpr static float omega_
The angular velocity to use to rotate.
TimeOffsetCalibration(LaserInterface *laser, fawkes::MotorInterface *motor, fawkes::tf::Transformer *tf_transformer, fawkes::NetworkConfiguration *config, std::string config_path)
Constructor.
PointCloudPtr get_lasercloud(LaserInterface *laser)
Prepare the laser data for calibration.
static const long sleep_time_
Time in micro seconds to sleep after each iteration.
float step_
The current step size for the time offset.
static const unsigned int frequency_
The frequency for motor commands.
virtual void calibrate()
Calibrate the time offset.
Laser360Interface Fawkes BlackBoard Interface.
MotorInterface Fawkes BlackBoard Interface.
Remote configuration via Fawkes net.