Classes
class	ErrorCalc

Functions
def	build_opt_vector (robot_params, free_dict, pose_guess_arr)

def	compute_errors_breakdown (error_calc, multisensors, opt_pose_arr)

def	opt_runner (robot_params, pose_guess_arr, free_dict, multisensors, use_cov)

Function Documentation

def calibration_estimation.opt_runner.build_opt_vector	(	robot_params,
		free_dict,
		pose_guess_arr
	)

Construct vector of all the parameters that we're optimizing over. This includes
both the free system parameters and the checkerboard poses
Inputs:
- robot_params: Dictionary with all of the system parameters
- free_dict: Dictionary that specifies which system parameters are free
- pose_guess_arr: Mx6 array storing the current checkerboard poses, where M is
                  the number of calibration samples
Returns: Vector of length (F + Mx6), where F is the number of 1's in the free_dict

Definition at line 339 of file opt_runner.py.

def calibration_estimation.opt_runner.compute_errors_breakdown	(	error_calc,
		multisensors,
		opt_pose_arr
	)

Definition at line 363 of file opt_runner.py.

def calibration_estimation.opt_runner.opt_runner	(	robot_params,
		pose_guess_arr,
		free_dict,
		multisensors,
		use_cov
	)

Runs a single optimization step for the calibration optimization.
  robot_params - Instance of UrdfParams
  free_dict - Dictionary storing which parameters are free
  multisensor - list of list of measurements. Each multisensor corresponds to a single checkerboard pose
  pose_guesses - List of guesses as to where all the checkerboard are. This is used to initialze the optimization

Definition at line 377 of file opt_runner.py.

Classes

Functions

Function Documentation