robot_calibration::Optimizer Class Reference

Class to do optimization. More...

#include <optimizer.h>

Public Member Functions
int	getNumParameters ()
int	getNumResiduals ()
boost::shared_ptr< CalibrationOffsetParser >	getOffsets ()
int	optimize (OptimizationParams &params, std::vector< robot_calibration_msgs::CalibrationData > data, bool progress_to_stdout=false)
	Run optimization. More...
	Optimizer (const std::string &robot_description)
	Standard constructor. More...
boost::shared_ptr< ceres::Solver::Summary >	summary ()
	Returns the summary of the optimization last run. More...
virtual	~Optimizer ()

Private Attributes
std::string	led_frame_
urdf::Model	model_
std::map< std::string, ChainModel * >	models_
int	num_params_
int	num_residuals_
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 41 of file optimizer.cpp.

robot_calibration::Optimizer::~Optimizer ( )

virtual

Definition at line 52 of file optimizer.cpp.

Member Function Documentation

int robot_calibration::Optimizer::getNumParameters ( )

inline

Definition at line 74 of file optimizer.h.

int robot_calibration::Optimizer::getNumResiduals ( )

inline

Definition at line 79 of file optimizer.h.

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 56 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.

Member Data Documentation

std::string robot_calibration::Optimizer::led_frame_

private

Definition at line 87 of file optimizer.h.

urdf::Model robot_calibration::Optimizer::model_

private

Definition at line 85 of file optimizer.h.

std::map<std::string, ChainModel*> robot_calibration::Optimizer::models_

private

Definition at line 90 of file optimizer.h.

int robot_calibration::Optimizer::num_params_

private

Definition at line 95 of file optimizer.h.

int robot_calibration::Optimizer::num_residuals_

private

Definition at line 95 of file optimizer.h.

boost::shared_ptr<CalibrationOffsetParser> robot_calibration::Optimizer::offsets_

private

Definition at line 92 of file optimizer.h.

std::string robot_calibration::Optimizer::root_frame_

private

Definition at line 86 of file optimizer.h.

boost::shared_ptr<ceres::Solver::Summary> robot_calibration::Optimizer::summary_

private

Definition at line 93 of file optimizer.h.

KDL::Tree robot_calibration::Optimizer::tree_

private

Definition at line 88 of file optimizer.h.

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

• optimizer.h
• optimizer.cpp