Struct OptimizationParams

• Defined in File params.hpp

Nested Relationships

Nested Types

• Struct OptimizationParams::Chain3dToCamera2dParams

• Struct OptimizationParams::Chain3dToChain3dParams

• Struct OptimizationParams::Chain3dToMeshParams

• Struct OptimizationParams::Chain3dToPlaneParams

• Struct OptimizationParams::FreeFrameInitialValue

• Struct OptimizationParams::FreeFrameParams

• Struct OptimizationParams::ModelParams

• Struct OptimizationParams::OutrageousParams

• Struct OptimizationParams::Params

• Struct OptimizationParams::PlaneToPlaneParams

Struct Documentation

struct OptimizationParams

Class to hold parameters for optimization.

Public Types

using ParamsPtr = std::shared_ptr<Params>

Public Functions

OptimizationParams()

bool LoadFromROS(rclcpp::Node::SharedPtr node, const std::string &parameter_ns)

Load from ROS parameters.

Parameters:

• node – Node pointer to use for declaring/loading parameters

• parameter_ns – Namespace for optimization parameters

Public Members

std::string base_link

std::vector<std::string> free_params

std::vector<FreeFrameParams> free_frames

std::vector<FreeFrameInitialValue> free_frames_initial_values

std::vector<ModelParams> models

std::vector<ParamsPtr> error_blocks

int max_num_iterations

struct Chain3dToCamera2dParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string model_3d

std::string model_2d

double scale

struct Chain3dToChain3dParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string model_a

std::string model_b

struct Chain3dToMeshParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string model

std::string link_name

struct Chain3dToPlaneParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string model

double a

double b

double c

double d

double scale

struct FreeFrameInitialValue : public robot_calibration::OptimizationParams::Params

Public Members

double x

double y

double z

double roll

double pitch

double yaw

struct FreeFrameParams : public robot_calibration::OptimizationParams::Params

Public Members

bool x

bool y

bool z

bool roll

bool pitch

bool yaw

struct ModelParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string frame

std::string param_name

struct OutrageousParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string param

double joint_scale

double position_scale

double rotation_scale

struct Params

Subclassed by robot_calibration::OptimizationParams::Chain3dToCamera2dParams, robot_calibration::OptimizationParams::Chain3dToChain3dParams, robot_calibration::OptimizationParams::Chain3dToMeshParams, robot_calibration::OptimizationParams::Chain3dToPlaneParams, robot_calibration::OptimizationParams::FreeFrameInitialValue, robot_calibration::OptimizationParams::FreeFrameParams, robot_calibration::OptimizationParams::ModelParams, robot_calibration::OptimizationParams::OutrageousParams, robot_calibration::OptimizationParams::PlaneToPlaneParams

Public Functions

inline virtual ~Params()

Public Members

std::string name

std::string type

struct PlaneToPlaneParams : public robot_calibration::OptimizationParams::Params

Public Members

std::string model_a

std::string model_b

double normal_scale

double offset_scale