industrial_calibration::DualDHChainMeasurementCost Class Reference

Cost function for performing kinematic calibration between two DH chains using a measurement of the pose between the camera and target.

#include <dh_chain_kinematic_calibration_cost.h>

Inheritance diagram for industrial_calibration::DualDHChainMeasurementCost:

Public Member Functions
	DualDHChainMeasurementCost (const KinematicMeasurement &measurement, const DHChain &camera_chain, const DHChain &target_chain, const double orientation_weight)
template<typename T >
bool	operator() (T const *const *parameters, T *residual) const
Public Member Functions inherited from industrial_calibration::DualDHChainCost
	DualDHChainCost (const DHChain &camera_chain, const DHChain &target_chain, const Eigen::VectorXd &camera_chain_joints, const Eigen::VectorXd &target_chain_joints)

Protected Attributes
const Eigen::Isometry3d	camera_to_target_measured_
const double	orientation_weight_
Protected Attributes inherited from industrial_calibration::DualDHChainCost
const DHChain &	camera_chain_
const DHChain &	target_chain_
const Eigen::VectorXd	camera_chain_joints_
const Eigen::VectorXd	target_chain_joints_

Additional Inherited Members
Static Public Member Functions inherited from industrial_calibration::DualDHChainCost
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)