Public Member Functions | Private Member Functions | Private Attributes
robot_calibration::CalibrationOffsetParser Class Reference

Combined parser and configuration for calibration offsets. Holds the configuration of what is to be calibrated, and and parses the actual adjustments from the free parameters. More...

#include <calibration_offset_parser.h>

List of all members.

Public Member Functions

bool add (const std::string name)
 Tell the parser we wish to calibrate an active joint or other single parameter.
bool addFrame (const std::string name, bool calibrate_x, bool calibrate_y, bool calibrate_z, bool calibrate_roll, bool calibrate_pitch, bool calibrate_yaw)
 Tell the parser we wish to calibrate a fixed joint.
 CalibrationOffsetParser ()
double get (const std::string name) const
 Get the offset.
bool getFrame (const std::string name, KDL::Frame &offset) const
 Get the offset for a frame calibration.
std::string getOffsetYAML ()
 Get all the current offsets as a YAML.
int size ()
bool update (const double *const free_params)
 Update the offsets based on free_params from ceres-solver.
std::string updateURDF (const std::string &urdf)
 Update the urdf with the new offsets.
virtual ~CalibrationOffsetParser ()

Private Member Functions

 CalibrationOffsetParser (const CalibrationOffsetParser &)
CalibrationOffsetParseroperator= (const CalibrationOffsetParser &)

Private Attributes

std::vector< std::string > frame_names_
std::vector< std::string > parameter_names_
std::vector< double > parameter_offsets_

Detailed Description

Combined parser and configuration for calibration offsets. Holds the configuration of what is to be calibrated, and and parses the actual adjustments from the free parameters.

Definition at line 32 of file calibration_offset_parser.h.


Constructor & Destructor Documentation

Definition at line 30 of file calibration_offset_parser.cpp.

Definition at line 36 of file calibration_offset_parser.h.


Member Function Documentation

bool robot_calibration::CalibrationOffsetParser::add ( const std::string  name)

Tell the parser we wish to calibrate an active joint or other single parameter.

Parameters:
joint_nameThe name of the joint, e.g. "shoulder_pan_joint"

Definition at line 35 of file calibration_offset_parser.cpp.

bool robot_calibration::CalibrationOffsetParser::addFrame ( const std::string  name,
bool  calibrate_x,
bool  calibrate_y,
bool  calibrate_z,
bool  calibrate_roll,
bool  calibrate_pitch,
bool  calibrate_yaw 
)

Tell the parser we wish to calibrate a fixed joint.

Parameters:
nameThe name of the fixed joint, e.g. "head_camera_rgb_joint"

Definition at line 42 of file calibration_offset_parser.cpp.

double robot_calibration::CalibrationOffsetParser::get ( const std::string  name) const

Get the offset.

Definition at line 74 of file calibration_offset_parser.cpp.

bool robot_calibration::CalibrationOffsetParser::getFrame ( const std::string  name,
KDL::Frame offset 
) const

Get the offset for a frame calibration.

Parameters:
nameThe name of the fixed joint, e.g. "head_camera_rgb_joint"
offsetThe KDL::Frame to fill in the offset.
Returns:
True if there is an offset to apply, false if otherwise.

Definition at line 85 of file calibration_offset_parser.cpp.

Get all the current offsets as a YAML.

Definition at line 118 of file calibration_offset_parser.cpp.

CalibrationOffsetParser& robot_calibration::CalibrationOffsetParser::operator= ( const CalibrationOffsetParser ) [private]
Returns:
The number of free parameters being parsed

Definition at line 113 of file calibration_offset_parser.cpp.

bool robot_calibration::CalibrationOffsetParser::update ( const double *const  free_params)

Update the offsets based on free_params from ceres-solver.

Definition at line 67 of file calibration_offset_parser.cpp.

std::string robot_calibration::CalibrationOffsetParser::updateURDF ( const std::string &  urdf)

Update the urdf with the new offsets.

Definition at line 128 of file calibration_offset_parser.cpp.


Member Data Documentation

Definition at line 82 of file calibration_offset_parser.h.

Definition at line 79 of file calibration_offset_parser.h.

Definition at line 85 of file calibration_offset_parser.h.


The documentation for this class was generated from the following files:


robot_calibration
Author(s): Michael Ferguson
autogenerated on Sat May 20 2017 02:35:31