CalibrationInfo.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "CalibrationInfo.h"
 
using namespace armarx;
 
CalibrationInfo::CalibrationInfo(Eigen::MatrixXf averageNoiseValues,
                                 Eigen::MatrixXf maximumValues,
                                 float minValue,
                                 float maxValue)
{
    this->calibratedMinimum = minValue;
    this->calibratedMaximum = maxValue;
    this->averageNoiseValues = averageNoiseValues;
    this->maximumValues = maximumValues;
}
 
Eigen::MatrixXf
CalibrationInfo::applyCalibration(Eigen::MatrixXf rawData)
{
    return ((rawData - averageNoiseValues)
                    .cwiseQuotient(maximumValues - averageNoiseValues)
                    .array() *
                (calibratedMaximum - calibratedMinimum) +
            calibratedMinimum)
        .matrix();
}