industrial_calibration::DualDHChainCost Class Reference

Base class for cost functions that perform kinematic calibration between two DH chains, one that holds the camera and one that holds the target.

#include <dh_chain_kinematic_calibration_cost.h>

Inheritance diagram for industrial_calibration::DualDHChainCost:

Public Member Functions
	DualDHChainCost (const DHChain &camera_chain, const DHChain &target_chain, const Eigen::VectorXd &camera_chain_joints, const Eigen::VectorXd &target_chain_joints)

Static Public Member Functions
template<typename T >
static Isometry3< T >	createTransform (T const *const *params, const std::size_t idx)
static std::vector< double * >	constructParameters (Eigen::MatrixX4d &camera_chain_dh_offsets, Eigen::MatrixX4d &target_chain_dh_offsets, Eigen::Vector3d &camera_mount_to_camera_position, Eigen::Vector3d &camera_mount_to_camera_angle_axis, Eigen::Vector3d &target_mount_to_target_position, Eigen::Vector3d &target_mount_to_target_angle_axis, Eigen::Vector3d &camera_chain_base_to_target_chain_base_position, Eigen::Vector3d &camera_chain_base_to_target_chain_base_angle_axis)
static std::map< const double *, std::vector< std::string > >	constructParameterLabels (const std::vector< double * > &parameters, const std::vector< std::array< std::string, 4 > > &camera_chain_labels, const std::vector< std::array< std::string, 4 > > &target_chain_labels, const std::array< std::string, 3 > &camera_mount_to_camera_position_labels, const std::array< std::string, 3 > &camera_mount_to_camera_angle_axis_labels, const std::array< std::string, 3 > &target_mount_to_target_position_labels, const std::array< std::string, 3 > &target_mount_to_target_angle_axis_labels, const std::array< std::string, 3 > &camera_chain_base_to_target_chain_base_position_labels, const std::array< std::string, 3 > &camera_chain_base_to_target_chain_base_angle_axis_labels)
static std::map< const double *, std::vector< int > >	constructParameterMasks (const std::vector< double * > &parameters, const std::array< std::vector< int >, 8 > &masks)
static std::map< const double *, std::string >	constructParameterNames (const std::vector< double * > &parameters)

Protected Attributes
const DHChain &	camera_chain_
const DHChain &	target_chain_
const Eigen::VectorXd	camera_chain_joints_
const Eigen::VectorXd	target_chain_joints_