handeye_solver_default.h

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/* Author: Yu Yan */
 
#pragma once
 
#include <moveit/handeye_calibration_solver/handeye_solver_base.h>
#include <ros/ros.h>
 
// Disable clang warnings
#if defined(__clang__)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wdeprecated-register"
#include <Python.h>
#pragma clang diagnostic pop
#elif defined(__GNUC__) || defined(__GNUG__)
#include <Python.h>
#endif
 
#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
#include <numpy/arrayobject.h>
 
namespace moveit_handeye_calibration
{
constexpr auto TRANSFORM_MATRIX_DIMENSION = 4;  // Width and height of a 4x4 transform matrix
 
class HandEyeSolverDefault : public HandEyeSolverBase
{
public:
  HandEyeSolverDefault() = default;
  ~HandEyeSolverDefault() = default;
 
  virtual void initialize() override;
 
  virtual const std::vector<std::string>& getSolverNames() const 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;
 
  virtual const Eigen::Isometry3d& getCameraRobotPose() const override;
 
private:
  bool toCArray(const Eigen::Isometry3d& pose, double (*c_arr)[TRANSFORM_MATRIX_DIMENSION]) const;
 
  std::vector<std::string> solver_names_;  // Solver algorithm names
  Eigen::Isometry3d camera_robot_pose_;    // Computed camera pose with respect to a robot
};
 
}  // namespace moveit_handeye_calibration