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calibration_estimation::multi_step_cov_estimator Namespace Reference

Functions

def build_sensor_defs
def check_file_permissions
def diff
def load_calibration_steps
def load_requested_sensors
def update_transmission
def update_urdf
def usage

Variables

tuple all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()]))
tuple all_sensors_dict = build_sensor_defs(config[sensors_name])
tuple bag_filename = rospy.myargv()
string calibrated_xml = 'robot_calibrated_'
tuple config = rospy.get_param(config_param_name)
string config_param_name = "calibration_config"
tuple count = sum(counts)
list counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors]
tuple cov_x = matrix(J)
list cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list]
tuple cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors'])
tuple free_dict = yaml.load(cur_step["free_params"])
tuple msg_count = get_robot_measurement_count(bag_filename, sample_skip_list)
tuple multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list)
tuple out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w')
tuple outfile = open(calibrated_xml, 'w')
tuple output_dict = robot_params.params_to_config(robot_params.deflate())
string output_dir = "."
list output_filenames = [calibrated_xml]
 output_poses = previous_pose_guesses
tuple permissions_valid = all(valid_list)
tuple previous_pose_guesses = numpy.array(yaml.load(config['initial_poses']))
tuple robot_description = get_robot_description(bag_filename)
tuple robot_params = UrdfParams(robot_description, config)
tuple sample_skip_list = rospy.get_param('calibration_skip_list', [])
string sensors_name = "sensors"
tuple step_list = load_calibration_steps(config["cal_steps"])
tuple urdf = update_urdf(robot_params.get_clean_urdf(), robot_params)
list use_cov = cur_step['use_cov']
list valid_list = [check_file_permissions(curfile) for curfile in output_filenames]
tuple xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime())

Function Documentation

Given a list of sensor definition dictionaries, merge them into a single dictionary

Definition at line 67 of file multi_step_cov_estimator.py.

Definition at line 115 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.diff (   v1,
  v2,
  eps = 1e-10 
)
Determine the difference in two vectors. 

Definition at line 150 of file multi_step_cov_estimator.py.

Definition at line 99 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.load_requested_sensors (   all_sensors_dict,
  requested_sensors 
)
Build a sensor dictionary with the subset of sensors that we request

Definition at line 134 of file multi_step_cov_estimator.py.

Definition at line 157 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.update_urdf (   urdf,
  calibrated_params 
)
Given urdf and calibrated robot_params, updates the URDF. 

Definition at line 164 of file multi_step_cov_estimator.py.

Definition at line 60 of file multi_step_cov_estimator.py.


Variable Documentation

tuple calibration_estimation::multi_step_cov_estimator::all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()]))

Definition at line 244 of file multi_step_cov_estimator.py.

Definition at line 243 of file multi_step_cov_estimator.py.

Definition at line 220 of file multi_step_cov_estimator.py.

Definition at line 212 of file multi_step_cov_estimator.py.

Definition at line 235 of file multi_step_cov_estimator.py.

Definition at line 231 of file multi_step_cov_estimator.py.

Definition at line 295 of file multi_step_cov_estimator.py.

list calibration_estimation::multi_step_cov_estimator::counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors]

Definition at line 294 of file multi_step_cov_estimator.py.

Definition at line 327 of file multi_step_cov_estimator.py.

list calibration_estimation::multi_step_cov_estimator::cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list]

Definition at line 291 of file multi_step_cov_estimator.py.

Definition at line 281 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::free_dict = yaml.load(cur_step["free_params"])

Definition at line 310 of file multi_step_cov_estimator.py.

Definition at line 251 of file multi_step_cov_estimator.py.

Definition at line 284 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w')

Definition at line 319 of file multi_step_cov_estimator.py.

Definition at line 334 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::output_dict = robot_params.params_to_config(robot_params.deflate())

Definition at line 307 of file multi_step_cov_estimator.py.

Definition at line 221 of file multi_step_cov_estimator.py.

Definition at line 259 of file multi_step_cov_estimator.py.

Definition at line 308 of file multi_step_cov_estimator.py.

Definition at line 264 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::previous_pose_guesses = numpy.array(yaml.load(config['initial_poses']))

Definition at line 254 of file multi_step_cov_estimator.py.

Definition at line 271 of file multi_step_cov_estimator.py.

Definition at line 272 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::sample_skip_list = rospy.get_param('calibration_skip_list', [])

Definition at line 250 of file multi_step_cov_estimator.py.

Definition at line 238 of file multi_step_cov_estimator.py.

Definition at line 247 of file multi_step_cov_estimator.py.

Definition at line 335 of file multi_step_cov_estimator.py.

Definition at line 311 of file multi_step_cov_estimator.py.

Definition at line 263 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime())

Definition at line 211 of file multi_step_cov_estimator.py.

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calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Thu Aug 15 2013 10:15:40