Error block for computing the fit between a set of projected points and a mesh (usually part of the robot body). Typically used to align sensor with the robot footprint. More...

#include <chain3d_to_mesh_error.h>

Public Member Functions
	Chain3dToMesh (ChainModel chain_model, CalibrationOffsetParser offsets, robot_calibration_msgs::CalibrationData &data, MeshPtr &mesh)
	This function is not used direcly, instead use the Create() function. More...

bool	operator() (double const const free_params, double *residuals) const

virtual	~Chain3dToMesh ()

Static Public Member Functions
static ceres::CostFunction *	Create (ChainModel a_model, CalibrationOffsetParser offsets, robot_calibration_msgs::CalibrationData &data, MeshPtr mesh)
	Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls. More...

Public Attributes
ChainModel *	chain_model_

robot_calibration_msgs::CalibrationData	data_

MeshPtr	mesh_

CalibrationOffsetParser *	offsets_

Detailed Description

Error block for computing the fit between a set of projected points and a mesh (usually part of the robot body). Typically used to align sensor with the robot footprint.

Definition at line 71 of file chain3d_to_mesh_error.h.

Constructor & Destructor Documentation

◆ Chain3dToMesh()

robot_calibration::Chain3dToMesh::Chain3dToMesh	(	ChainModel *	chain_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data,
		MeshPtr &	mesh
	)

inline

This function is not used direcly, instead use the Create() function.

Parameters

chain_model	The model for the chain, used for reprojection.
offsets	Easy access to the free parameters.
data	The calibration data collected.
mesh_path	Path to the mesh file to test against

Definition at line 80 of file chain3d_to_mesh_error.h.

◆ ~Chain3dToMesh()

virtual robot_calibration::Chain3dToMesh::~Chain3dToMesh ( )

inlinevirtual

Definition at line 91 of file chain3d_to_mesh_error.h.

Member Function Documentation

◆ Create()

static ceres::CostFunction* robot_calibration::Chain3dToMesh::Create	(	ChainModel *	a_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data,
		MeshPtr	mesh
	)

inlinestatic

Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls.

Definition at line 135 of file chain3d_to_mesh_error.h.

◆ operator()()

bool robot_calibration::Chain3dToMesh::operator()	(	double const const	free_params,
		double *	residuals
	)		const

inline

Definition at line 93 of file chain3d_to_mesh_error.h.

Member Data Documentation

◆ chain_model_

ChainModel* robot_calibration::Chain3dToMesh::chain_model_

Definition at line 157 of file chain3d_to_mesh_error.h.

◆ data_

robot_calibration_msgs::CalibrationData robot_calibration::Chain3dToMesh::data_

Definition at line 159 of file chain3d_to_mesh_error.h.

◆ mesh_

MeshPtr robot_calibration::Chain3dToMesh::mesh_

Definition at line 160 of file chain3d_to_mesh_error.h.

◆ offsets_

CalibrationOffsetParser* robot_calibration::Chain3dToMesh::offsets_

Definition at line 158 of file chain3d_to_mesh_error.h.

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

chain3d_to_mesh_error.h

Public Member Functions

Static Public Member Functions

Public Attributes