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multi_step_cov_estimator.py File Reference

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Namespaces

namespace  calibration_estimation::multi_step_cov_estimator

Functions

def calibration_estimation::multi_step_cov_estimator.build_sensor_defs
def calibration_estimation::multi_step_cov_estimator.check_file_permissions
def calibration_estimation::multi_step_cov_estimator.diff
def calibration_estimation::multi_step_cov_estimator.load_calibration_steps
def calibration_estimation::multi_step_cov_estimator.load_requested_sensors
def calibration_estimation::multi_step_cov_estimator.signal_handler
def calibration_estimation::multi_step_cov_estimator.update_transmission
def calibration_estimation::multi_step_cov_estimator.update_urdf
def calibration_estimation::multi_step_cov_estimator.usage

Variables

tuple calibration_estimation::multi_step_cov_estimator.all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()]))
tuple calibration_estimation::multi_step_cov_estimator.all_sensors_dict = build_sensor_defs(config[sensors_name])
tuple calibration_estimation::multi_step_cov_estimator.bag_filename = rospy.myargv()
string calibration_estimation::multi_step_cov_estimator.calibrated_xml = 'robot_calibrated_'
tuple 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"
tuple 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]
tuple calibration_estimation::multi_step_cov_estimator.cov_x = matrix(J)
list calibration_estimation::multi_step_cov_estimator.cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list]
tuple calibration_estimation::multi_step_cov_estimator.cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors'])
list calibration_estimation::multi_step_cov_estimator.default_pose = config['default_floating_initial_pose']
tuple calibration_estimation::multi_step_cov_estimator.free_dict = yaml.load(cur_step["free_params"])
tuple calibration_estimation::multi_step_cov_estimator.msg_count = get_robot_measurement_count(bag_filename, sample_skip_list)
tuple calibration_estimation::multi_step_cov_estimator.multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list)
tuple calibration_estimation::multi_step_cov_estimator.out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w')
tuple calibration_estimation::multi_step_cov_estimator.outfile = open(uncalibrated_xml, 'w')
tuple 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
tuple calibration_estimation::multi_step_cov_estimator.permissions_valid = all(valid_list)
tuple calibration_estimation::multi_step_cov_estimator.previous_pose_guesses = numpy.array(yaml.load(config['initial_poses']))
tuple calibration_estimation::multi_step_cov_estimator.robot_description = get_robot_description(bag_filename)
tuple calibration_estimation::multi_step_cov_estimator.robot_params = UrdfParams(robot_description, config)
tuple 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"
tuple 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_'
tuple calibration_estimation::multi_step_cov_estimator.urdf = update_urdf(robot_params.get_clean_urdf(), robot_params)
list 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]
tuple 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 Sun Oct 5 2014 22:44:09