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Kinematic Optimization with 6D Pose Measurements #79

Merged
merged 22 commits into from
Aug 26, 2020
Merged

Kinematic Optimization with 6D Pose Measurements #79

merged 22 commits into from
Aug 26, 2020

Commits on Aug 25, 2020

  1. initial optimization using kinematic_measurement observations

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  2. revise orientation residual calculation

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  3. update to use masking; fix incorrect pose residual calculation

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  4. fix duplicate names for new tests

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  5. delete duplicate function def; adjust residual threshold in test

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  6. fix naming and use of kinematic truths

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  7. revise residual calculation to use 3 offset pts

    @schornakj @marip8
    schornakj authored and marip8 committed Aug 25, 2020
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  8. Added new constructor and method to DHChain class

    @marip8
    marip8 committed Aug 25, 2020
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  9. Updated create chain test method

    @marip8
    marip8 committed Aug 25, 2020
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  10. WIP kinematic calibration test

    @marip8
    marip8 committed Aug 25, 2020
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  11. Updated kinematic measurement cost function constructor

    @marip8
    marip8 committed Aug 25, 2020
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  12. Added parameter for expected DH chain offset standard deviations

    @marip8
    marip8 committed Aug 25, 2020
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  13. Added data file

    @marip8
    marip8 committed Aug 25, 2020
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  14. Changed optimization residual calculation

    @marip8
    marip8 committed Aug 25, 2020
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  15. Updated kinematic calibration tool with better testing

    @marip8
    marip8 committed Aug 25, 2020
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  16. Renamed kinematic pose calibration; added solver parameters

    @marip8
    marip8 committed Aug 25, 2020
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  17. Updated kinematic calibration example with solver parameters

    @marip8
    marip8 committed Aug 25, 2020
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  18. Removed residual expectation from unit test

    @marip8
    marip8 committed Aug 25, 2020
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  19. Removed unused file; loaded file name from ROS parameter

    @marip8
    marip8 committed Aug 25, 2020
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  20. Moved kinematic calibration node to examples directory

    @marip8
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  21. Updated kinematic calibration node to load parameters from launch fil… 

    …e; added launch file
    @marip8
    marip8 committed Aug 25, 2020
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Commits on Aug 26, 2020

  1. Removed TODO comment

    @marip8
    marip8 committed Aug 26, 2020
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