Public Member Functions | |
def | __init__ |
def | build_sparsity_dict |
def | compute_cov |
def | compute_expected |
def | compute_marginal_gamma_sqrt |
def | compute_residual |
def | compute_residual_scaled |
def | get_measurement |
def | get_residual_length |
def | update_config |
Public Attributes | |
sensor_id | |
sensor_type | |
terms_per_sample | |
Private Member Functions | |
def | _calc_fk_target_pts |
Private Attributes | |
_checkerboard | |
_config_dict | |
_full_chain | |
_M_chain | |
_target_id |
Definition at line 72 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::__init__ | ( | self, | ||
config_dict, | ||||
M_chain, | ||||
target_id | ||||
) |
Definition at line 73 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::_calc_fk_target_pts | ( | self, | ||
chain_state | ||||
) | [private] |
Definition at line 155 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::build_sparsity_dict | ( | self | ) |
Definition at line 171 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::compute_cov | ( | self, | ||
target_pts | ||||
) |
Definition at line 123 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::compute_expected | ( | self, | ||
target_pts | ||||
) |
Definition at line 167 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::compute_marginal_gamma_sqrt | ( | self, | ||
target_pts | ||||
) |
Definition at line 105 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::compute_residual | ( | self, | ||
target_pts | ||||
) |
Definition at line 90 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::compute_residual_scaled | ( | self, | ||
target_pts | ||||
) |
Definition at line 99 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::get_measurement | ( | self | ) |
Returns a 4xN matrix with the locations of the checkerboard points in homogenous coords, as per the forward kinematics of the chain
Definition at line 148 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::get_residual_length | ( | self | ) |
Definition at line 143 of file chain_sensor.py.
def pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::update_config | ( | self, | ||
robot_params | ||||
) |
Definition at line 86 of file chain_sensor.py.
Definition at line 88 of file chain_sensor.py.
Definition at line 78 of file chain_sensor.py.
Definition at line 82 of file chain_sensor.py.
Definition at line 79 of file chain_sensor.py.
Definition at line 80 of file chain_sensor.py.
Definition at line 76 of file chain_sensor.py.
Definition at line 75 of file chain_sensor.py.
Definition at line 84 of file chain_sensor.py.