update_cob_calibration_urdf::UpdateCobCalibrationUrdf Class Reference

List of all members.

Public Member Functions
def	__init__
def	run
Public Attributes
	chains2update
	debug
	file_urdf_in
	file_urdf_out
	file_yaml_calib_system
	file_yaml_init_system
	tfs2update
Private Member Functions
def	_convert_transform

---

Detailed Description

@summary: Updates calibration urdf file with calibration results

The results of the cob calibration process are read from the calibrated_system yaml
file and propagated to the urdf robot calibration file.

Definition at line 77 of file update_cob_calibration_urdf.py.

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Member Function Documentation

def update_cob_calibration_urdf::UpdateCobCalibrationUrdf::__init__

(

self

)

Get file locations from parameter server (or use defaults) and setup dictionary
which specifies which values are updated. 

Definition at line 85 of file update_cob_calibration_urdf.py.

def update_cob_calibration_urdf::UpdateCobCalibrationUrdf::_convert_transform	(		self,
			t
	)			[private]

Convert transform notation from (x, y, z, rotation_vector) as used in calibrated_system 
and initial_system to (x, y, z, roll, pitch, yaw) notation used in calibration.urdf.xacro

@param t: (x, y, z, rotation_vector)
@type  t: tuple

@return: (x, y, z, roll, pitch, yaw)
@rtype:  tuple

Definition at line 167 of file update_cob_calibration_urdf.py.

def update_cob_calibration_urdf::UpdateCobCalibrationUrdf::run

(

self

)

Start the update process. Values are read from yaml files and are preprocessed for 
writing to xml

Definition at line 121 of file update_cob_calibration_urdf.py.

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Member Data Documentation

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::chains2update

Definition at line 110 of file update_cob_calibration_urdf.py.

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::debug

Definition at line 98 of file update_cob_calibration_urdf.py.

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::file_urdf_in

Definition at line 94 of file update_cob_calibration_urdf.py.

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::file_urdf_out

Definition at line 95 of file update_cob_calibration_urdf.py.

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::file_yaml_calib_system

Definition at line 96 of file update_cob_calibration_urdf.py.

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::file_yaml_init_system

Definition at line 97 of file update_cob_calibration_urdf.py.

update_cob_calibration_urdf::UpdateCobCalibrationUrdf::tfs2update

Definition at line 102 of file update_cob_calibration_urdf.py.

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

• update_cob_calibration_urdf.py