Struct OptimizationParams

Nested Relationships

Nested Types

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