calibrate Namespace Reference

Classes
class	CalibrateException
class	Dance
class	LastHopReachedException
class	NoJointStatesFoundException
class	NoTransformCachedException
class	TransformBuffer
Functions
def	averagePoses
Variables
list	avgdev = [0,0,0,0]
tuple	broadcaster = tf.TransformBroadcaster()
tuple	config = open( config_file, 'w' )
tuple	config_file = rospy.get_param('~config_file', os.getenv('HOME') + '/.ros/kinect_pose.urdf.xacro')
int	current_run = 0
tuple	dance = Dance()
tuple	mean = ((0,0,0), (1,0,0,0))
list	poses = []
tuple	publish_tf = rospy.get_param('~publish_tf', False)
tuple	r = rospy.Rate(10)
tuple	rpy = euler_from_quaternion(mean[1])
tuple	runs = max(1, rospy.get_param('~runs', 1))
tuple	samples_required = max(1, rospy.get_param('~samples_required', 300))
tuple	t = transform.getTransform()
tuple	timeout = max(1, rospy.get_param('~timeout', 20))
tuple	transform = TransformBuffer()
tuple	write_config = rospy.get_param('~write_config', True)
list	xyz = mean[0]

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Function Documentation

def calibrate.averagePoses	(		pose1,
			pose2,
			t
	)

Average two poses with weighting t to 1

This computes the average of the kartesian positions using
linear interpolation and of the rotation using SLERP

Definition at line 53 of file calibrate.py.

---

Variable Documentation

list calibrate::avgdev = [0,0,0,0]

Definition at line 239 of file calibrate.py.

tuple calibrate::broadcaster = tf.TransformBroadcaster()

Definition at line 196 of file calibrate.py.

tuple calibrate::config = open( config_file, 'w' )

Definition at line 257 of file calibrate.py.

tuple calibrate::config_file = rospy.get_param('~config_file', os.getenv('HOME') + '/.ros/kinect_pose.urdf.xacro')

Definition at line 186 of file calibrate.py.

int calibrate::current_run = 0

Definition at line 201 of file calibrate.py.

tuple calibrate::dance = Dance()

Definition at line 193 of file calibrate.py.

tuple calibrate::mean = ((0,0,0), (1,0,0,0))

Definition at line 238 of file calibrate.py.

list calibrate::poses = []

Definition at line 200 of file calibrate.py.

tuple calibrate::publish_tf = rospy.get_param('~publish_tf', False)

Definition at line 191 of file calibrate.py.

tuple calibrate::r = rospy.Rate(10)

Definition at line 198 of file calibrate.py.

tuple calibrate::rpy = euler_from_quaternion(mean[1])

Definition at line 255 of file calibrate.py.

tuple calibrate::runs = max(1, rospy.get_param('~runs', 1))

Definition at line 189 of file calibrate.py.

tuple calibrate::samples_required = max(1, rospy.get_param('~samples_required', 300))

Definition at line 188 of file calibrate.py.

tuple calibrate::t = transform.getTransform()

Definition at line 205 of file calibrate.py.

tuple calibrate::timeout = max(1, rospy.get_param('~timeout', 20))

Definition at line 187 of file calibrate.py.

tuple calibrate::transform = TransformBuffer()

Definition at line 194 of file calibrate.py.

tuple calibrate::write_config = rospy.get_param('~write_config', True)

Definition at line 190 of file calibrate.py.

list calibrate::xyz = mean[0]

Definition at line 254 of file calibrate.py.