calibration parser

[rhaschke]

• Why do you use the main key calib? Will there be any other key? My suggestion is to drop it and just use a sequence.
• The sensor_name is not used yet. Do we need it at all? Is that just for documentation?
• As far as I understand, single_calib_ is used for all taxels if:
  • there is no multi-calib given at all
  • there is no idx_range given for any sequence item
  • there is a single, negative idx specified in idx_range for any sequence item
    I suggest to drop this last condition or replace it by idx_range: default.
    My key suggestion is to use this as the default (or fallback) calib, if nothing more specific was defined for a taxel. Currently, single_calib_ is only actually used when calib_ is empty and calib_ is only used if it defines calibs for all taxel inputs.
    If we agree on this new semantics, I would cleanup the code some more towards this direction.

Hence, an example yaml config would look like this:

tactile_calib:
  board0:
    - indices: [[44, 46], [50,56]]
      type: PWL
      values: { 0: 1 }
    - indices: [17, 18]
      type: PWL
      values: 
        0: 2
        1: 3
    - indices: default
      type: PWL
      values: 
        0: 2
        1: 3
    - indices: 42
      type: RAW

Handle, both C++ and python parser and dumper.

• C++:
  • parser: tactile_state_calibrator
• python:
  • parser/dumper: mapping_utils.py