rokubimini::calibration::ForceTorqueCalibration Class Reference

#include <ForceTorqueCalibration.hpp>

Public Member Functions
void	addMeasurement (const Eigen::Vector3d &acc, const Eigen::Vector3d &gravity, Eigen::Vector3d angVel, Eigen::Vector3d angAcc, const Eigen::VectorXd &ftRaw)
	ForceTorqueCalibration ()
Eigen::VectorXd	getCalibParams ()
void	resetCalibration ()
	~ForceTorqueCalibration ()

Protected Member Functions
Eigen::MatrixXd	createMeasurementMat (const Eigen::Vector3d &acc, const Eigen::Vector3d &gravity, Eigen::Vector3d angVel, Eigen::Vector3d angAcc)
Eigen::Matrix3d	skewMatrix (Eigen::Vector3d inVec)

Protected Attributes
Eigen::VectorXd	ftReadings_
Eigen::MatrixXd	measurementMat_
int	numMeasurements_

Detailed Description

Definition at line 9 of file ForceTorqueCalibration.hpp.

Constructor & Destructor Documentation

rokubimini::calibration::ForceTorqueCalibration::ForceTorqueCalibration

(

)

Initialize calibration process.

Definition at line 8 of file ForceTorqueCalibration.cpp.

rokubimini::calibration::ForceTorqueCalibration::~ForceTorqueCalibration

(

)

Definition at line 13 of file ForceTorqueCalibration.cpp.

Member Function Documentation

void rokubimini::calibration::ForceTorqueCalibration::addMeasurement	(	const Eigen::Vector3d &	acc,
		const Eigen::Vector3d &	gravity,
		Eigen::Vector3d	angVel,
		Eigen::Vector3d	angAcc,
		const Eigen::VectorXd &	ftRaw
	)

Add measurements to the calibration process as one data point for the LS estimate.

Parameters

acc	IMU reading of the EE linear acceleration in the EE frame as Eigen::Vector3d
gravity	Direction of gravity [0, 0, -9.81] expressed in the EE frame as Eigen::Vector3d
angVel	IMU reading of the EE angular velocity in the EE frame as Eigen::Vector3d
angAcc	Angular acceleration of the EE expressed in the EE frame as Eigen::Vector3d
ftRaw	F/T sensor readings in EE frame as Eigen::VectorXd (size must be equal 6)

Definition at line 17 of file ForceTorqueCalibration.cpp.

Eigen::MatrixXd rokubimini::calibration::ForceTorqueCalibration::createMeasurementMat ( const Eigen::Vector3d &  acc, const Eigen::Vector3d &  gravity, Eigen::Vector3d  angVel, Eigen::Vector3d  angAcc  )

protected

Creates a date point which gets added to the measurement matrix for the LS estimate.

Parameters

acc	Linear acceleration passed to addMeasurement()
gravity	Direction of gravity passed to addMeasurement()
angVel	Angular velocity passed to addMeasurement()
angAcc	Angular acceleration passed to addMeasurement()

Returns

Data point for measurement matrix for the LS estimate as a Eigen::MatrixXd of size (6, 10)

Definition at line 48 of file ForceTorqueCalibration.cpp.

Eigen::VectorXd rokubimini::calibration::ForceTorqueCalibration::getCalibParams

(

)

Execute LS estimation based on the data points of the measurement matrix and F/T sensor readings. Method to apply the Least Squares Algorithm to estimate the calibration parameters: the load's mass, its center of mass(multiplied by the mass to ensure linearity) and the internal force and torque sensor offsets.

Returns

Vector of estimated calibration parameters as Eigen::VectorXd of size 10

Definition at line 93 of file ForceTorqueCalibration.cpp.

void rokubimini::calibration::ForceTorqueCalibration::resetCalibration

(

)

Reset all gathered data.

Definition at line 103 of file ForceTorqueCalibration.cpp.

Eigen::Matrix3d rokubimini::calibration::ForceTorqueCalibration::skewMatrix ( Eigen::Vector3d  inVec )

protected

Creates a skew matrix as an equivalent to a cross product.

Parameters

inVec

Vector of which the skew matrix is created as Eigen::Vector3d

Returns

Skew matrix as a Eigen::Matrix3d

Definition at line 78 of file ForceTorqueCalibration.cpp.

Member Data Documentation

Eigen::VectorXd rokubimini::calibration::ForceTorqueCalibration::ftReadings_

protected

Definition at line 63 of file ForceTorqueCalibration.hpp.

Eigen::MatrixXd rokubimini::calibration::ForceTorqueCalibration::measurementMat_

protected

Definition at line 64 of file ForceTorqueCalibration.hpp.

int rokubimini::calibration::ForceTorqueCalibration::numMeasurements_

protected

Definition at line 65 of file ForceTorqueCalibration.hpp.

---

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

• ForceTorqueCalibration.hpp
• ForceTorqueCalibration.cpp