Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
robot_calibration::OutrageousError Struct Reference

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_
 
CalibrationOffsetParseroffsets_
 
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

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
offsetsThe calibration offset parser instance
nameThe name of the joint or frame which we are restricting.
joint_scalingThe error scalar to multiply the joint offset by.
position_scalingThe error scalar to multiply each of the position offsets by.
rotation_scalingThe error scalar to multiply each of the rotation offsets by (in their angle-axis form).

Definition at line 46 of file outrageous_error.h.

virtual robot_calibration::OutrageousError::~OutrageousError ( )
inlinevirtual

Definition at line 59 of file outrageous_error.h.

Member Function Documentation

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.

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

Operator for ceres-solver to call.

Parameters
free_paramsDouble pointer leading only to the offsets vector.
residualsThis functor returns 7 residuals.

Definition at line 66 of file outrageous_error.h.

Member Data Documentation

double robot_calibration::OutrageousError::joint_

Definition at line 117 of file outrageous_error.h.

std::string robot_calibration::OutrageousError::name_

Definition at line 116 of file outrageous_error.h.

CalibrationOffsetParser* robot_calibration::OutrageousError::offsets_

Definition at line 115 of file outrageous_error.h.

double robot_calibration::OutrageousError::position_

Definition at line 118 of file outrageous_error.h.

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:


robot_calibration
Author(s): Michael Ferguson
autogenerated on Tue Nov 3 2020 17:30:30