pr2_calibration_estimation::sensors::chain_sensor::ChainSensor Class Reference

List of all members.

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

---

Detailed Description

Definition at line 72 of file chain_sensor.py.

---

Member Function Documentation

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.

---

Member Data Documentation

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::_checkerboard [private]

Definition at line 88 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::_config_dict [private]

Definition at line 78 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::_full_chain [private]

Definition at line 82 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::_M_chain [private]

Definition at line 79 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::_target_id [private]

Definition at line 80 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::sensor_id

Definition at line 76 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::sensor_type

Definition at line 75 of file chain_sensor.py.

pr2_calibration_estimation::sensors::chain_sensor::ChainSensor::terms_per_sample

Definition at line 84 of file chain_sensor.py.

---

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

• chain_sensor.py