robot_calibration::Optimizer Class Reference

Class to do optimization. More...

#include <optimizer.h>

Public Member Functions
std::vector< std::string >	getCameraNames ()
	Get the names of all camera models. More...
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_
boost::shared_ptr< MeshLoader >	mesh_loader_
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 42 of file optimizer.h.

Constructor & Destructor Documentation

Optimizer()

robot_calibration::Optimizer::Optimizer

(

const std::string &

robot_description

)

Standard constructor.

Definition at line 45 of file optimizer.cpp.

~Optimizer()

robot_calibration::Optimizer::~Optimizer ( )

virtual

Definition at line 59 of file optimizer.cpp.

Member Function Documentation

getCameraNames()

std::vector< std::string > robot_calibration::Optimizer::getCameraNames

(

)

Get the names of all camera models.

This is mainly used when deciding what camera_info to export.

Definition at line 399 of file optimizer.cpp.

getNumParameters()

int robot_calibration::Optimizer::getNumParameters ( )

inline

Definition at line 73 of file optimizer.h.

getNumResiduals()

int robot_calibration::Optimizer::getNumResiduals ( )

inline

Definition at line 78 of file optimizer.h.

getOffsets()

boost::shared_ptr<CalibrationOffsetParser> robot_calibration::Optimizer::getOffsets ( )

inline

Definition at line 68 of file optimizer.h.

optimize()

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 63 of file optimizer.cpp.

summary()

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

inline

Returns the summary of the optimization last run.

Definition at line 63 of file optimizer.h.

Member Data Documentation

led_frame_

std::string robot_calibration::Optimizer::led_frame_

private

Definition at line 93 of file optimizer.h.

mesh_loader_

boost::shared_ptr<MeshLoader> robot_calibration::Optimizer::mesh_loader_

private

Definition at line 96 of file optimizer.h.

model_

urdf::Model robot_calibration::Optimizer::model_

private

Definition at line 91 of file optimizer.h.

models_

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

private

Definition at line 98 of file optimizer.h.

num_params_

int robot_calibration::Optimizer::num_params_

private

Definition at line 103 of file optimizer.h.

num_residuals_

int robot_calibration::Optimizer::num_residuals_

private

Definition at line 103 of file optimizer.h.

offsets_

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

private

Definition at line 100 of file optimizer.h.

root_frame_

std::string robot_calibration::Optimizer::root_frame_

private

Definition at line 92 of file optimizer.h.

summary_

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

private

Definition at line 101 of file optimizer.h.

tree_

KDL::Tree robot_calibration::Optimizer::tree_

private

Definition at line 94 of file optimizer.h.

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

• optimizer.h
• optimizer.cpp