00001 /* 00002 * Copyright (C) 2014 Fetch Robotics Inc. 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 // Author: Michael Ferguson 00018 00019 #ifndef ROBOT_CALIBRATION_CERES_OPTIMIZATION_PARAMS_H 00020 #define ROBOT_CALIBRATION_CERES_OPTIMIZATION_PARAMS_H 00021 00022 #include <ros/ros.h> 00023 00024 namespace robot_calibration 00025 { 00026 00028 struct OptimizationParams 00029 { 00030 struct FreeFrameParams 00031 { 00032 std::string name; 00033 bool x; 00034 bool y; 00035 bool z; 00036 bool roll; 00037 bool pitch; 00038 bool yaw; 00039 }; 00040 00041 struct Params 00042 { 00043 std::string name; 00044 std::string type; 00045 XmlRpc::XmlRpcValue params; 00046 }; 00047 00048 std::string base_link; 00049 std::vector<std::string> free_params; 00050 std::vector<FreeFrameParams> free_frames; 00051 std::vector<Params> models; 00052 std::vector<Params> error_blocks; 00053 00054 OptimizationParams(); 00055 bool LoadFromROS(ros::NodeHandle& nh); 00056 }; 00057 00058 } // namespace robot_calibration 00059 00060 #endif // ROBOT_CALIBRATION_CERES_OPTIMIZATION_PARAMS_H