Functions
def	build_sensor_defs
def	check_file_permissions
def	diff
def	load_calibration_steps
def	load_requested_sensors
def	signal_handler
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'])
list	default_pose = config['default_floating_initial_pose']
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(uncalibrated_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"])
string	uncalibrated_xml = 'robot_uncalibrated_'
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())

Function Documentation

def calibration_estimation.multi_step_cov_estimator.build_sensor_defs ( sensors )

Given a list of sensor definition dictionaries, merge them into a single dictionary

Definition at line 76 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.check_file_permissions ( filename )

Definition at line 124 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 159 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.load_calibration_steps ( steps_dict )

Definition at line 108 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 143 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.signal_handler	(	signal,
		frame
	)

Definition at line 62 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.update_transmission	(	urdf,
		joint,
		gearing
	)

Definition at line 166 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 173 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.usage ( )

Definition at line 69 of file multi_step_cov_estimator.py.

Variable Documentation

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 266 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 265 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::bag_filename = rospy.myargv()

Definition at line 242 of file multi_step_cov_estimator.py.

string calibration_estimation::multi_step_cov_estimator::calibrated_xml = 'robot_calibrated_'

Definition at line 233 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::config = rospy.get_param(config_param_name)

Definition at line 257 of file multi_step_cov_estimator.py.

string calibration_estimation::multi_step_cov_estimator::config_param_name = "calibration_config"

Definition at line 253 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::count = sum(counts)

Definition at line 327 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 326 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::cov_x = matrix(J)

Definition at line 359 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 323 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 313 of file multi_step_cov_estimator.py.

list calibration_estimation::multi_step_cov_estimator::default_pose = config['default_floating_initial_pose']

Definition at line 283 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 342 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 273 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 316 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 351 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::outfile = open(uncalibrated_xml, 'w')

Definition at line 366 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 339 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::output_dir = "."

Definition at line 243 of file multi_step_cov_estimator.py.

list calibration_estimation::multi_step_cov_estimator::output_filenames = [calibrated_xml]

Definition at line 291 of file multi_step_cov_estimator.py.

calibration_estimation::multi_step_cov_estimator::output_poses = previous_pose_guesses

Definition at line 340 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::permissions_valid = all(valid_list)

Definition at line 296 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 276 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::robot_description = get_robot_description(bag_filename)

Definition at line 303 of file multi_step_cov_estimator.py.

tuple calibration_estimation::multi_step_cov_estimator::robot_params = UrdfParams(robot_description, config)

Definition at line 304 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 272 of file multi_step_cov_estimator.py.

string calibration_estimation::multi_step_cov_estimator::sensors_name = "sensors"

Definition at line 260 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 269 of file multi_step_cov_estimator.py.

string calibration_estimation::multi_step_cov_estimator::uncalibrated_xml = 'robot_uncalibrated_'

Definition at line 234 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 371 of file multi_step_cov_estimator.py.

list calibration_estimation::multi_step_cov_estimator::use_cov = cur_step['use_cov']

Definition at line 343 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 295 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 232 of file multi_step_cov_estimator.py.

Functions

Variables

Function Documentation

Variable Documentation