calibration_estimation.sensors.chain_sensor.ChainSensor Class Reference

List of all members.

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

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Detailed Description

Definition at line 69 of file chain_sensor.py.

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Constructor & Destructor Documentation

def calibration_estimation.sensors.chain_sensor.ChainSensor.__init__	(		self,
			config_dict,
			M_chain,
			target_id
	)

Definition at line 70 of file chain_sensor.py.

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Member Function Documentation

def calibration_estimation.sensors.chain_sensor.ChainSensor._calc_fk_target_pts	(		self,
			chain_state
	)		[private]

Definition at line 157 of file chain_sensor.py.

def calibration_estimation.sensors.chain_sensor.ChainSensor.build_sparsity_dict

(

self

)

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.

def calibration_estimation.sensors.chain_sensor.ChainSensor.get_measurement

(

self

)

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.

def calibration_estimation.sensors.chain_sensor.ChainSensor.get_residual_length

(

self

)

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.

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Member Data Documentation

calibration_estimation::sensors::chain_sensor.ChainSensor::_checkerboard [private]

Definition at line 83 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::_config_dict [private]

Definition at line 70 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::_full_chain [private]

Definition at line 70 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::_M_chain [private]

Definition at line 70 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::_target_id [private]

Definition at line 70 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::sensor_id

Definition at line 70 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::sensor_type

Definition at line 70 of file chain_sensor.py.

calibration_estimation::sensors::chain_sensor.ChainSensor::terms_per_sample

Definition at line 70 of file chain_sensor.py.

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The documentation for this class was generated from the following file:

• chain_sensor.py