Error block to restrict the offsets generated by ceres-solver from becoming outrageously large. More...

#include <outrageous_error.h>

Public Member Functions
bool	operator() (double const const free_params, double *residuals) const
	Operator for ceres-solver to call. More...

	OutrageousError (CalibrationOffsetParser *offsets, std::string name, double joint_scaling, double position_scaling, double rotation_scaling)
	Constructor for an error functor. More...

virtual	~OutrageousError ()

Static Public Member Functions
static ceres::CostFunction *	Create (CalibrationOffsetParser *offsets, std::string name, double joint_scaling, double position_scaling, double rotation_scaling)
	Helper factory function to create a new error block. More...

Public Attributes
double	joint_

std::string	name_

CalibrationOffsetParser *	offsets_

double	position_

double	rotation_

Detailed Description

Error block to restrict the offsets generated by ceres-solver from becoming outrageously large.

Definition at line 34 of file outrageous_error.h.

Constructor & Destructor Documentation

◆ OutrageousError()

robot_calibration::OutrageousError::OutrageousError	(	CalibrationOffsetParser *	offsets,
		std::string	name,
		double	joint_scaling,
		double	position_scaling,
		double	rotation_scaling
	)

inline

Constructor for an error functor.

Parameters

offsets	The calibration offset parser instance
name	The name of the joint or frame which we are restricting.
joint_scaling	The error scalar to multiply the joint offset by.
position_scaling	The error scalar to multiply each of the position offsets by.
rotation_scaling	The error scalar to multiply each of the rotation offsets by (in their angle-axis form).

Definition at line 46 of file outrageous_error.h.

◆ ~OutrageousError()

virtual robot_calibration::OutrageousError::~OutrageousError ( )

inlinevirtual

Definition at line 59 of file outrageous_error.h.

Member Function Documentation

◆ Create()

static ceres::CostFunction* robot_calibration::OutrageousError::Create	(	CalibrationOffsetParser *	offsets,
		std::string	name,
		double	joint_scaling,
		double	position_scaling,
		double	rotation_scaling
	)

inlinestatic

Helper factory function to create a new error block.

Definition at line 101 of file outrageous_error.h.

◆ operator()()

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

inline

Operator for ceres-solver to call.

Parameters

free_params	Double pointer leading only to the offsets vector.
residuals	This functor returns 7 residuals.

Definition at line 66 of file outrageous_error.h.

Member Data Documentation

◆ joint_

double robot_calibration::OutrageousError::joint_

Definition at line 117 of file outrageous_error.h.

◆ name_

std::string robot_calibration::OutrageousError::name_

Definition at line 116 of file outrageous_error.h.

◆ offsets_

CalibrationOffsetParser* robot_calibration::OutrageousError::offsets_

Definition at line 115 of file outrageous_error.h.

◆ position_

double robot_calibration::OutrageousError::position_

Definition at line 118 of file outrageous_error.h.

◆ rotation_

double robot_calibration::OutrageousError::rotation_

Definition at line 119 of file outrageous_error.h.

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

outrageous_error.h

Public Member Functions

Static Public Member Functions

Public Attributes