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multi_step_cov_estimator.py File Reference

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Namespaces

 calibration_estimation.multi_step_cov_estimator
 

Functions

def calibration_estimation.multi_step_cov_estimator.build_sensor_defs (sensors)
 
def calibration_estimation.multi_step_cov_estimator.check_file_permissions (filename)
 
def calibration_estimation.multi_step_cov_estimator.diff (v1, v2, eps=1e-10)
 
def calibration_estimation.multi_step_cov_estimator.load_calibration_steps (steps_dict)
 
def calibration_estimation.multi_step_cov_estimator.load_requested_sensors (all_sensors_dict, requested_sensors)
 
def calibration_estimation.multi_step_cov_estimator.signal_handler (signal, frame)
 
def calibration_estimation.multi_step_cov_estimator.update_transmission (urdf, joint, gearing)
 
def calibration_estimation.multi_step_cov_estimator.update_urdf (urdf, calibrated_params)
 
def calibration_estimation.multi_step_cov_estimator.usage ()
 

Variables

 calibration_estimation.multi_step_cov_estimator.all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()]))
 
 calibration_estimation.multi_step_cov_estimator.all_sensors_dict = build_sensor_defs(config[sensors_name])
 
 calibration_estimation.multi_step_cov_estimator.anonymous
 
 calibration_estimation.multi_step_cov_estimator.bag_filename = rospy.myargv()[1]
 
string calibration_estimation.multi_step_cov_estimator.calibrated_xml = 'robot_calibrated_'
 
 calibration_estimation.multi_step_cov_estimator.config = rospy.get_param(config_param_name)
 
string calibration_estimation.multi_step_cov_estimator.config_param_name = "calibration_config"
 
 calibration_estimation.multi_step_cov_estimator.count = sum(counts)
 
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]
 
 calibration_estimation.multi_step_cov_estimator.cov_x = matrix(J).T*matrix(J)
 
list calibration_estimation.multi_step_cov_estimator.cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list]
 
 calibration_estimation.multi_step_cov_estimator.cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors'])
 
 calibration_estimation.multi_step_cov_estimator.default_pose = config['default_floating_initial_pose']
 
 calibration_estimation.multi_step_cov_estimator.fmt
 
 calibration_estimation.multi_step_cov_estimator.free_dict = yaml.load(cur_step["free_params"])
 
 calibration_estimation.multi_step_cov_estimator.J
 
 calibration_estimation.multi_step_cov_estimator.msg_count = get_robot_measurement_count(bag_filename, sample_skip_list)
 
 calibration_estimation.multi_step_cov_estimator.multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list)
 
 calibration_estimation.multi_step_cov_estimator.out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w')
 
 calibration_estimation.multi_step_cov_estimator.outfile = open(uncalibrated_xml, 'w')
 
 calibration_estimation.multi_step_cov_estimator.output_dict = robot_params.params_to_config(robot_params.deflate())
 
string calibration_estimation.multi_step_cov_estimator.output_dir = "."
 
list calibration_estimation.multi_step_cov_estimator.output_filenames = [calibrated_xml]
 
 calibration_estimation.multi_step_cov_estimator.output_poses = previous_pose_guesses
 
 calibration_estimation.multi_step_cov_estimator.permissions_valid = all(valid_list)
 
 calibration_estimation.multi_step_cov_estimator.previous_pose_guesses = numpy.array(yaml.load(f))
 
 calibration_estimation.multi_step_cov_estimator.robot_description = get_robot_description(bag_filename)
 
 calibration_estimation.multi_step_cov_estimator.robot_params = UrdfParams(robot_description, config)
 
 calibration_estimation.multi_step_cov_estimator.sample_skip_list = rospy.get_param('calibration_skip_list', [])
 
string calibration_estimation.multi_step_cov_estimator.sensors_name = "sensors"
 
 calibration_estimation.multi_step_cov_estimator.step_list = load_calibration_steps(config["cal_steps"])
 
string calibration_estimation.multi_step_cov_estimator.uncalibrated_xml = 'robot_uncalibrated_'
 
 calibration_estimation.multi_step_cov_estimator.urdf = update_urdf(robot_params.get_clean_urdf(), robot_params)
 
 calibration_estimation.multi_step_cov_estimator.use_cov = cur_step['use_cov']
 
list calibration_estimation.multi_step_cov_estimator.valid_list = [check_file_permissions(curfile) for curfile in output_filenames];
 
 calibration_estimation.multi_step_cov_estimator.xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime())
 


calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Fri Apr 2 2021 02:12:53