calibration_estimation.sensors.chain_sensor.ChainSensor Class Reference

Public Member Functions
def	__init__ (self, config_dict, M_chain, target_id)
def	build_sparsity_dict (self)
def	compute_cov (self, target_pts)
def	compute_expected (self, target_pts)
def	compute_marginal_gamma_sqrt (self, target_pts)
def	compute_residual (self, target_pts)
def	compute_residual_scaled (self, target_pts)
def	get_measurement (self)
def	get_residual_length (self)
def	update_config (self, robot_params)

Public Attributes
	sensor_id
	sensor_type
	terms_per_sample

Private Member Functions
def	_calc_fk_target_pts (self, chain_state)

Private Attributes
	_checkerboard
	_config_dict
	_full_chain
	_M_chain
	_target_id

Detailed Description

Definition at line 69 of file chain_sensor.py.

Constructor & Destructor Documentation

def calibration_estimation.sensors.chain_sensor.ChainSensor.__init__	(		self,
			config_dict,
			M_chain,
			target_id
	)

Definition at line 70 of file chain_sensor.py.

Member Function Documentation

def calibration_estimation.sensors.chain_sensor.ChainSensor._calc_fk_target_pts (   self,   chain_state  )

private

Definition at line 157 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.build_sparsity_dict

(

self

)

Definition at line 173 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_cov	(		self,
			target_pts
	)

Definition at line 120 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_expected	(		self,
			target_pts
	)

Definition at line 169 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_marginal_gamma_sqrt	(		self,
			target_pts
	)

Definition at line 102 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_residual	(		self,
			target_pts
	)

Definition at line 87 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_residual_scaled	(		self,
			target_pts
	)

Definition at line 96 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.get_measurement

(

self

)

Returns a 4xN matrix with the locations of the checkerboard points in homogenous coords,
as per the forward kinematics of the chain

Definition at line 150 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.get_residual_length

(

self

)

Definition at line 145 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.update_config	(		self,
			robot_params
	)

Definition at line 83 of file chain_sensor.py.

Member Data Documentation

calibration_estimation.sensors.chain_sensor.ChainSensor._checkerboard

private

Definition at line 85 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor._config_dict

private

Definition at line 75 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor._full_chain

private

Definition at line 79 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor._M_chain

private

Definition at line 76 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor._target_id

private

Definition at line 77 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor.sensor_id

Definition at line 73 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor.sensor_type

Definition at line 72 of file chain_sensor.py.

calibration_estimation.sensors.chain_sensor.ChainSensor.terms_per_sample

Definition at line 81 of file chain_sensor.py.

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

• chain_sensor.py