Public Member Functions | |
def | __init__ |
def | build_sparsity_dict |
def | compute_cov |
def | compute_expected |
def | compute_marginal_gamma_sqrt |
def | compute_residual |
def | compute_residual_scaled |
def | get_measurement |
def | get_residual_length |
def | update_config |
Public Attributes | |
sensor_id | |
sensor_type | |
terms_per_sample | |
Private Member Functions | |
def | _calc_fk_target_pts |
Private Attributes | |
_checkerboard | |
_config_dict | |
_full_chain | |
_M_chain | |
_target_id |
Definition at line 69 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.__init__ | ( | self, | |
config_dict, | |||
M_chain, | |||
target_id | |||
) |
Definition at line 70 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor._calc_fk_target_pts | ( | self, | |
chain_state | |||
) | [private] |
Definition at line 157 of file chain_sensor.py.
Definition at line 173 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_cov | ( | self, | |
target_pts | |||
) |
Definition at line 120 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_expected | ( | self, | |
target_pts | |||
) |
Definition at line 169 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_marginal_gamma_sqrt | ( | self, | |
target_pts | |||
) |
Definition at line 102 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_residual | ( | self, | |
target_pts | |||
) |
Definition at line 87 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.compute_residual_scaled | ( | self, | |
target_pts | |||
) |
Definition at line 96 of file chain_sensor.py.
Returns a 4xN matrix with the locations of the checkerboard points in homogenous coords, as per the forward kinematics of the chain
Definition at line 150 of file chain_sensor.py.
Definition at line 145 of file chain_sensor.py.
def calibration_estimation.sensors.chain_sensor.ChainSensor.update_config | ( | self, | |
robot_params | |||
) |
Definition at line 83 of file chain_sensor.py.
Definition at line 83 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.
Definition at line 70 of file chain_sensor.py.