industrial_calibration::KinematicMeasurement Struct Reference

A set of data representing a single measurement of the state of a system where a kinematic device holding a "camera" directly observes the position and orientation of a target mounted on a separate kinematic device. More...

Detailed Description

This is intended to be used for kinematic calibration in which a laser tracker or camera fiducial tracking system provides pose measurements directly, rather than observing corresponding features with a 2D/3D camera

Note: if the camera or target is fixed, the size of the joint state vector can be zero

#include <types.h>

Public Types
using	Set = std::vector< KinematicMeasurement >

Public Member Functions
bool	operator== (const KinematicMeasurement &rhs) const

Public Attributes
Eigen::Isometry3d	camera_to_target
	A measurement of the full 6-DoF target pose as observed by the camera.
Eigen::VectorXd	camera_chain_joints
	The joint values of the kinematic chain to which the camera is mounted.
Eigen::VectorXd	target_chain_joints
	The joint values of the kinematic chain to which the target is mounted.