Class to do optimization. More...

#include <optimizer.h>

Public Member Functions
boost::shared_ptr < CalibrationOffsetParser >	getOffsets ()
int	optimize (OptimizationParams &params, std::vector< robot_calibration_msgs::CalibrationData > data, bool progress_to_stdout=false)
	Run optimization.
	Optimizer (const std::string &robot_description)
	Standard constructor.
boost::shared_ptr < ceres::Solver::Summary >	summary ()
	Returns the summary of the optimization last run.
virtual	~Optimizer ()
Private Attributes
std::string	led_frame_
urdf::Model	model_
std::map< std::string, ChainModel * >	models_
boost::shared_ptr < CalibrationOffsetParser >	offsets_
std::string	root_frame_
boost::shared_ptr < ceres::Solver::Summary >	summary_
KDL::Tree	tree_

Detailed Description

Class to do optimization.

Definition at line 45 of file optimizer.h.

Constructor & Destructor Documentation

robot_calibration::Optimizer::Optimizer ( const std::string & robot_description )

Standard constructor.

Definition at line 42 of file optimizer.cpp.

robot_calibration::Optimizer::~Optimizer ( ) [virtual]

Definition at line 48 of file optimizer.cpp.

boost::shared_ptr<CalibrationOffsetParser> robot_calibration::Optimizer::getOffsets ( ) [inline]

Definition at line 69 of file optimizer.h.

int robot_calibration::Optimizer::optimize	(	OptimizationParams &	params,
		std::vector< robot_calibration_msgs::CalibrationData >	data,
		bool	progress_to_stdout = `false`
	)

Run optimization.

Parameters:

data	The data to be used for the optimization. Typically parsed from bag file, or loaded over some topic subscriber.
progress_to_stdout	If true, Ceres optimizer will output info to stdout.

Definition at line 66 of file optimizer.cpp.

boost::shared_ptr<ceres::Solver::Summary> robot_calibration::Optimizer::summary ( ) [inline]

Returns the summary of the optimization last run.

Definition at line 64 of file optimizer.h.