Functions | |
def | build_sensor_defs |
def | check_file_permissions |
def | diff |
def | load_calibration_steps |
def | load_requested_sensors |
def | update_transmission |
def | update_urdf |
def | usage |
Variables | |
tuple | all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
tuple | all_sensors_dict = build_sensor_defs(config[sensors_name]) |
tuple | bag_filename = rospy.myargv() |
string | calibrated_xml = 'robot_calibrated_' |
tuple | config = rospy.get_param(config_param_name) |
string | config_param_name = "calibration_config" |
tuple | count = sum(counts) |
list | counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors] |
tuple | cov_x = matrix(J) |
list | cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list] |
tuple | cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors']) |
tuple | free_dict = yaml.load(cur_step["free_params"]) |
tuple | msg_count = get_robot_measurement_count(bag_filename, sample_skip_list) |
tuple | multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list) |
tuple | out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w') |
tuple | outfile = open(calibrated_xml, 'w') |
tuple | output_dict = robot_params.params_to_config(robot_params.deflate()) |
string | output_dir = "." |
list | output_filenames = [calibrated_xml] |
output_poses = previous_pose_guesses | |
tuple | permissions_valid = all(valid_list) |
tuple | previous_pose_guesses = numpy.array(yaml.load(config['initial_poses'])) |
tuple | robot_description = get_robot_description(bag_filename) |
tuple | robot_params = UrdfParams(robot_description, config) |
tuple | sample_skip_list = rospy.get_param('calibration_skip_list', []) |
string | sensors_name = "sensors" |
tuple | step_list = load_calibration_steps(config["cal_steps"]) |
tuple | urdf = update_urdf(robot_params.get_clean_urdf(), robot_params) |
list | use_cov = cur_step['use_cov'] |
list | valid_list = [check_file_permissions(curfile) for curfile in output_filenames] |
tuple | xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime()) |
Given a list of sensor definition dictionaries, merge them into a single dictionary
Definition at line 67 of file multi_step_cov_estimator.py.
Definition at line 115 of file multi_step_cov_estimator.py.
def calibration_estimation.multi_step_cov_estimator.diff | ( | v1, | |
v2, | |||
eps = 1e-10 |
|||
) |
Determine the difference in two vectors.
Definition at line 150 of file multi_step_cov_estimator.py.
def calibration_estimation.multi_step_cov_estimator.load_calibration_steps | ( | steps_dict | ) |
Definition at line 99 of file multi_step_cov_estimator.py.
def calibration_estimation.multi_step_cov_estimator.load_requested_sensors | ( | all_sensors_dict, | |
requested_sensors | |||
) |
Build a sensor dictionary with the subset of sensors that we request
Definition at line 134 of file multi_step_cov_estimator.py.
def calibration_estimation.multi_step_cov_estimator.update_transmission | ( | urdf, | |
joint, | |||
gearing | |||
) |
Definition at line 157 of file multi_step_cov_estimator.py.
def calibration_estimation.multi_step_cov_estimator.update_urdf | ( | urdf, | |
calibrated_params | |||
) |
Given urdf and calibrated robot_params, updates the URDF.
Definition at line 164 of file multi_step_cov_estimator.py.
Definition at line 60 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
Definition at line 244 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::all_sensors_dict = build_sensor_defs(config[sensors_name]) |
Definition at line 243 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::bag_filename = rospy.myargv() |
Definition at line 220 of file multi_step_cov_estimator.py.
string calibration_estimation::multi_step_cov_estimator::calibrated_xml = 'robot_calibrated_' |
Definition at line 212 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::config = rospy.get_param(config_param_name) |
Definition at line 235 of file multi_step_cov_estimator.py.
string calibration_estimation::multi_step_cov_estimator::config_param_name = "calibration_config" |
Definition at line 231 of file multi_step_cov_estimator.py.
Definition at line 295 of file multi_step_cov_estimator.py.
list calibration_estimation::multi_step_cov_estimator::counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors] |
Definition at line 294 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::cov_x = matrix(J) |
Definition at line 327 of file multi_step_cov_estimator.py.
list calibration_estimation::multi_step_cov_estimator::cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list] |
Definition at line 291 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors']) |
Definition at line 281 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::free_dict = yaml.load(cur_step["free_params"]) |
Definition at line 310 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::msg_count = get_robot_measurement_count(bag_filename, sample_skip_list) |
Definition at line 251 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list) |
Definition at line 284 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w') |
Definition at line 319 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::outfile = open(calibrated_xml, 'w') |
Definition at line 334 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::output_dict = robot_params.params_to_config(robot_params.deflate()) |
Definition at line 307 of file multi_step_cov_estimator.py.
Definition at line 221 of file multi_step_cov_estimator.py.
Definition at line 259 of file multi_step_cov_estimator.py.
Definition at line 308 of file multi_step_cov_estimator.py.
Definition at line 264 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::previous_pose_guesses = numpy.array(yaml.load(config['initial_poses'])) |
Definition at line 254 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::robot_description = get_robot_description(bag_filename) |
Definition at line 271 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::robot_params = UrdfParams(robot_description, config) |
Definition at line 272 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::sample_skip_list = rospy.get_param('calibration_skip_list', []) |
Definition at line 250 of file multi_step_cov_estimator.py.
string calibration_estimation::multi_step_cov_estimator::sensors_name = "sensors" |
Definition at line 238 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::step_list = load_calibration_steps(config["cal_steps"]) |
Definition at line 247 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::urdf = update_urdf(robot_params.get_clean_urdf(), robot_params) |
Definition at line 335 of file multi_step_cov_estimator.py.
list calibration_estimation::multi_step_cov_estimator::use_cov = cur_step['use_cov'] |
Definition at line 311 of file multi_step_cov_estimator.py.
list calibration_estimation::multi_step_cov_estimator::valid_list = [check_file_permissions(curfile) for curfile in output_filenames] |
Definition at line 263 of file multi_step_cov_estimator.py.
tuple calibration_estimation::multi_step_cov_estimator::xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime()) |
Definition at line 211 of file multi_step_cov_estimator.py.