| ▼Nrobot_calibration | Calibration code lives under this namespace |
| CBaseCalibration | Class for moving the base around and calibrating imu and odometry |
| CCalibrationOffsetParser | Combined parser and configuration for calibration offsets. Holds the configuration of what is to be calibrated, and and parses the actual adjustments from the free parameters |
| CCamera3dModel | Model of a camera on a kinematic chain |
| CCaptureManager | |
| CChain3dToChain3d | Error block for computing the residual error between two 3d data sources. This can be used to calibrate 3d cameras to arms, or 3d cameras to other 3d cameras |
| CChain3dToMesh | 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 |
| CChain3dToPlane | Error block for computing the fit between a set of projected points and a plane (aX + bY + cZ + d = 0). Typically used to align sensor with the ground, but could be used to align with a flat robot base, etc |
| ▼CChainManager | Manages moving joints to a new pose, determining when they are settled, and returning current joint_states |
| CChainController | |
| CChainModel | Model of a kinematic chain. This is the basic instance where we transform the world observations into the proper root frame |
| CCheckerboardFinder | Finds checkerboards in images or point clouds |
| CDepthCameraInfoManager | Base class for a feature finder |
| CFeatureFinder | Base class for a feature finder |
| CFeatureFinderLoader | Load feature finders, based on param server config |
| ▼CLedFinder | This class processes the point cloud input to find the LED |
| CCloudDifferenceTracker | Internally used within LED finder to track each of several LEDs |
| CMeshLoader | |
| ▼COptimizationParams | Class to hold parameters for optimization |
| CFreeFrameInitialValue | |
| CFreeFrameParams | |
| CParams | |
| COptimizer | Class to do optimization |
| COutrageousError | Error block to restrict the offsets generated by ceres-solver from becoming outrageously large |
| CPlaneFinder | Finds the largest plane in a point cloud |
| CPlaneToPlaneError | Error block for computing the fit between two sets of projected points and their planar models plane (aX + bY + cZ + d = 0). Typically used to align multiple 3d cameras when they are not able to see high-resolution checkerboards, but can see a common plane (wall/floor/etc) |
| CRobotFinder | |
| CScanFinder | The scan finder is useful for aligning a laser scanner with other sensors. In particular, the laser scan be multiplied in the Z direction in order to create a plane for plane to plane calibration |
| CHardIronOffsetError | Cost functor for magnetometer sample when doing only hard iron offsets |
| CMagnetometerCapture | |