Construct vector of all the parameters that we're optimizing over. This includes
both the free system parameters and the checkerboard poses
- robot_params: Dictionary with all of the system parameters
- free_dict: Dictionary that specifies which system parameters are free
- pose_guess_arr: Mx6 array storing the current checkerboard poses, where M is
the number of calibration samples
Returns: Vector of length (F + Mx6), where F is the number of 1's in the free_dict
Definition at line 339 of file opt_runner.py.
Runs a single optimization step for the calibration optimization.
robot_params - Instance of UrdfParams
free_dict - Dictionary storing which parameters are free
multisensor - list of list of measurements. Each multisensor corresponds to a single checkerboard pose
pose_guesses - List of guesses as to where all the checkerboard are. This is used to initialze the optimization
Definition at line 377 of file opt_runner.py.