Class Chain3dModel

Inheritance Relationships

Derived Types

Class Documentation

class Chain3dModel

Model of a kinematic chain. This is the basic instance where we transform the world observations into the proper root frame.

Each world observation is an estimated point in some frame. In the case of the four led gripper, each led has an absolutely known location in the gripper_led_frame. The ordering of the points is: When using a checkerboard, each interesection on the checkerboard is an observation point. Even though checkerboard should be flat, the code assumes that each checkerboard intersection has 3 degrees of translational freedom. The gripper_led_frame to checkerboard_frame transformation becomes a set of free parameters in the calibration.

Based on the 6x5 checkboard, the ordering of the oberservation points produced by the OpenCV chessboard finder is always the same:

Subclassed by robot_calibration::Camera2dModel, robot_calibration::Camera3dModel

Public Functions

Chain3dModel(const std::string &name, KDL::Tree model, std::string root, std::string tip)

Create a new chain model.

Parameters:

  • model – The KDL model of the robot’s kinematics.

  • root – The name of the root link, must be consistent across all models used for error modeling. Usually ‘base_link’.

  • tip – The tip of the chain.

inline virtual ~Chain3dModel()
virtual std::vector<geometry_msgs::msg::PointStamped> project(const robot_calibration_msgs::msg::CalibrationData &data, const OptimizationOffsets &offsets)

Compute the position of the estimated points.

Parameters:

  • data – The calibration data for this observation.

  • offsets – The offsets that the solver wants to examine.

KDL::Frame getChainFK(const OptimizationOffsets &offsets, const sensor_msgs::msg::JointState &state)

Compute the forward kinematics of the chain, based on the offsets and the joint positions of the state message.

virtual std::string getName() const

Get the name of this model (as provided in the YAML config)

virtual std::string getType() const

Get the type of this model.

Protected Attributes

std::string root_
std::string tip_
std::string name_