Error block to restrict the offsets generated by ceres-solver from becoming outrageously large. More...

Public Member Functions
bool	operator() (double const const free_params, double *residuals) const
	Operator for ceres-solver to call.
	OutrageousError (CalibrationOffsetParser *offsets, std::string name, double joint_scaling, double position_scaling, double rotation_scaling)
	Constructor for an error functor.
virtual	~OutrageousError ()
Static Public Member Functions
static ceres::CostFunction *	Create (CalibrationOffsetParser *offsets, std::string name, double joint_scaling, double position_scaling, double rotation_scaling)
	Helper factory function to create a new error block.
Public Attributes
double	joint_
std::string	name_
CalibrationOffsetParser *	offsets_
double	position_
double	rotation_

Detailed Description

Error block to restrict the offsets generated by ceres-solver from becoming outrageously large.

Definition at line 34 of file outrageous_error.h.

Constructor & Destructor Documentation

robot_calibration::OutrageousError::OutrageousError	(	CalibrationOffsetParser *	offsets,
		std::string	name,
		double	joint_scaling,
		double	position_scaling,
		double	rotation_scaling
	)		`[inline]`

Constructor for an error functor.

Parameters:

offsets	The calibration offset parser instance
name	The name of the joint or frame which we are restricting.
joint_scaling	The error scalar to multiply the joint offset by.
position_scaling	The error scalar to multiply each of the position offsets by.
rotation_scaling	The error scalar to multiply each of the rotation offsets by (in their angle-axis form).

Definition at line 46 of file outrageous_error.h.

virtual robot_calibration::OutrageousError::~OutrageousError ( ) [inline, virtual]

Definition at line 59 of file outrageous_error.h.

static ceres::CostFunction* robot_calibration::OutrageousError::Create	(	CalibrationOffsetParser *	offsets,
		std::string	name,
		double	joint_scaling,
		double	position_scaling,
		double	rotation_scaling
	)		`[inline, static]`