libstp::sensors::ir::IRSensor Class Reference

#include <IRSensor.hpp>

Inheritance diagram for libstp::sensors::ir::IRSensor:

Collaboration diagram for libstp::sensors::ir::IRSensor:

Public Member Functions
	IRSensor (const int &port)
bool	isCalibrated () const
bool	calibrate (const std::vector< float > &values)
void	setCalibration (float newBlackThreshold, float newWhiteThreshold)
bool	isOnWhite () const
virtual bool	isOnBlack ()
float	probabilityOfBlack () const
float	probabilityOfWhite () const
Public Member Functions inherited from libstp::hal::analog::AnalogSensor
	AnalogSensor (int port)
	Create an analog sensor bound to a platform-defined port index.
virtual	~AnalogSensor ()
virtual int	read () const
	Read the current raw analog value from the selected platform.

Static Public Member Functions
static float	mean (const std::vector< float > &v)
static float	stddev (const std::vector< float > &v)
static float	variance (const std::vector< float > &v, float m)

Public Attributes
float	whiteThreshold
float	blackThreshold
float	whiteMean = 0.0f
float	blackMean = 0.0f
float	whiteStdDev = 1.0f
float	blackStdDev = 1.0f
Public Attributes inherited from libstp::hal::analog::AnalogSensor
int	port

Detailed Description

Reflectance sensor with black/white threshold classification helpers.

The class extends the generic HAL analog sensor with calibration state derived from observed black and white samples.

Definition at line 19 of file IRSensor.hpp.

Constructor & Destructor Documentation

IRSensor()

libstp::sensors::ir::IRSensor::IRSensor ( const int & port )

explicit

Construct an IR sensor on port.

On construction the sensor automatically applies any stored calibration for its port from the process-wide CalibrationStore (set "default_port<port>"). When no stored calibration is found the sensor stays uncalibrated and any black/white query will throw until it is calibrated.

Member Function Documentation

calibrate()

bool libstp::sensors::ir::IRSensor::calibrate

(

const std::vector< float > &

values

)

Update thresholds and distribution statistics from raw readings.

isCalibrated()

bool libstp::sensors::ir::IRSensor::isCalibrated ( ) const

nodiscard

Return true once thresholds have been established (stored, loaded or live).

isOnBlack()

virtual bool libstp::sensors::ir::IRSensor::isOnBlack ( )

virtual

Return true when the current reading is classified as black.

isOnWhite()

bool libstp::sensors::ir::IRSensor::isOnWhite

(

)

const

Return true when the current reading is classified as white.

mean()

float libstp::sensors::ir::IRSensor::mean ( const std::vector< float > & v )

static

Compute the arithmetic mean of a sample set.

probabilityOfBlack()

float libstp::sensors::ir::IRSensor::probabilityOfBlack

(

)

const

Estimate how likely the current reading belongs to the black cluster.

probabilityOfWhite()

float libstp::sensors::ir::IRSensor::probabilityOfWhite

(

)

const

Estimate how likely the current reading belongs to the white cluster.

setCalibration()

void libstp::sensors::ir::IRSensor::setCalibration	(	float	newBlackThreshold,
		float	newWhiteThreshold )

Replace the classification thresholds without recomputing sample statistics.

stddev()

float libstp::sensors::ir::IRSensor::stddev ( const std::vector< float > & v )

static

Compute the sample standard deviation of a sample set.

variance()

float libstp::sensors::ir::IRSensor::variance ( const std::vector< float > & v, float m )

static

Compute the variance of a sample set around a known mean.

Member Data Documentation

blackMean

float libstp::sensors::ir::IRSensor::blackMean = 0.0f

Definition at line 25 of file IRSensor.hpp.

blackStdDev

float libstp::sensors::ir::IRSensor::blackStdDev = 1.0f

Definition at line 27 of file IRSensor.hpp.

blackThreshold

float libstp::sensors::ir::IRSensor::blackThreshold

Definition at line 23 of file IRSensor.hpp.

whiteMean

float libstp::sensors::ir::IRSensor::whiteMean = 0.0f

Definition at line 24 of file IRSensor.hpp.

whiteStdDev

float libstp::sensors::ir::IRSensor::whiteStdDev = 1.0f

Definition at line 26 of file IRSensor.hpp.

whiteThreshold

float libstp::sensors::ir::IRSensor::whiteThreshold

Definition at line 22 of file IRSensor.hpp.

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-sensor-ir/include/IRSensor.hpp