moveit_handeye_calibration::HandEyeSolverDefault Class Reference

#include <handeye_solver_default.h>

Inheritance diagram for moveit_handeye_calibration::HandEyeSolverDefault:

Public Member Functions
virtual const Eigen::Isometry3d &	getCameraRobotPose () const override
	Get the result of the calibration, i.e. the camera pose with respect to the robot. More...
virtual const std::vector< std::string > &	getSolverNames () const override
	Get the names of available algorithms that can be used from the plugin. More...
	HandEyeSolverDefault ()=default
virtual void	initialize () override
virtual bool	solve (const std::vector< Eigen::Isometry3d > &effector_wrt_world, const std::vector< Eigen::Isometry3d > &object_wrt_sensor, SensorMountType setup=EYE_TO_HAND, const std::string &solver_name="TsaiLenz1989", std::string *error_message=nullptr) override
	Calculate camera-robot transform from the input pose samples. More...
	~HandEyeSolverDefault ()=default
Public Member Functions inherited from moveit_handeye_calibration::HandEyeSolverBase
std::pair< double, double >	getReprojectionError (const std::vector< Eigen::Isometry3d > &effector_wrt_world, const std::vector< Eigen::Isometry3d > &object_wrt_sensor, const Eigen::Isometry3d &X, SensorMountType setup=EYE_TO_HAND)
	Get the reprojection error for the given samples. More...
	HandEyeSolverBase ()=default
virtual	~HandEyeSolverBase ()=default

Private Member Functions
bool	toCArray (const Eigen::Isometry3d &pose, double(*c_arr)[TRANSFORM_MATRIX_DIMENSION]) const
	Convert a Eigen::Isometry3d pose to a 4x4 C array. More...

Private Attributes
Eigen::Isometry3d	camera_robot_pose_
std::vector< std::string >	solver_names_

Detailed Description

Definition at line 59 of file handeye_solver_default.h.

Constructor & Destructor Documentation

HandEyeSolverDefault()

moveit_handeye_calibration::HandEyeSolverDefault::HandEyeSolverDefault ( )

default

~HandEyeSolverDefault()

moveit_handeye_calibration::HandEyeSolverDefault::~HandEyeSolverDefault ( )

default

Member Function Documentation

getCameraRobotPose()

const Eigen::Isometry3d & moveit_handeye_calibration::HandEyeSolverDefault::getCameraRobotPose ( ) const

overridevirtual

Get the result of the calibration, i.e. the camera pose with respect to the robot.

Returns

A 4X4 transform indicating the pose.

Implements moveit_handeye_calibration::HandEyeSolverBase.

Definition at line 91 of file handeye_solver_default.cpp.

getSolverNames()

const std::vector< std::string > & moveit_handeye_calibration::HandEyeSolverDefault::getSolverNames ( ) const

overridevirtual

Get the names of available algorithms that can be used from the plugin.

Returns

A vector storing the names.

Implements moveit_handeye_calibration::HandEyeSolverBase.

Definition at line 86 of file handeye_solver_default.cpp.

initialize()

void moveit_handeye_calibration::HandEyeSolverDefault::initialize ( )

overridevirtual

Implements moveit_handeye_calibration::HandEyeSolverBase.

Definition at line 80 of file handeye_solver_default.cpp.

solve()

bool moveit_handeye_calibration::HandEyeSolverDefault::solve ( const std::vector< Eigen::Isometry3d > &  effector_wrt_world, const std::vector< Eigen::Isometry3d > &  object_wrt_sensor, SensorMountType  setup = EYE_TO_HAND, const std::string &  solver_name = "TsaiLenz1989", std::string *  error_message = nullptr  )

overridevirtual

Calculate camera-robot transform from the input pose samples.

Parameters

	effector_wrt_world	End-effector pose (4X4 transform) with respect to the world (or robot base).
	object_wrt_sensor	Object (calibration board) pose (4X4 transform) with respect to the camera.
	setup	Camera mount type, {EYE_TO_HAND, EYE_IN_HAND}.
	solver_name	The algorithm used in the calculation.
[out]	error_message	Description of error, if solver fails

Returns

If the calculation succeeds, return true. Otherwise, return false.

Implements moveit_handeye_calibration::HandEyeSolverBase.

Definition at line 96 of file handeye_solver_default.cpp.

toCArray()

bool moveit_handeye_calibration::HandEyeSolverDefault::toCArray ( const Eigen::Isometry3d &  pose, double(*)  c_arr[TRANSFORM_MATRIX_DIMENSION]  ) const

private

Convert a Eigen::Isometry3d pose to a 4x4 C array.

Parameters

pose	A Eigen::Isometry3d pose.
c_arr	Pointer to a C array of 4 elements.

Definition at line 450 of file handeye_solver_default.cpp.

Member Data Documentation

camera_robot_pose_

Eigen::Isometry3d moveit_handeye_calibration::HandEyeSolverDefault::camera_robot_pose_

private

Definition at line 84 of file handeye_solver_default.h.

solver_names_

std::vector<std::string> moveit_handeye_calibration::HandEyeSolverDefault::solver_names_

private

Definition at line 83 of file handeye_solver_default.h.

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

• handeye_solver_default.h
• handeye_solver_default.cpp