moveit_pro::behaviors::SolveHandEyeCalibration< mode > Class Template Reference

Solves both unknown transforms of a hand-eye calibration from collected samples. More...

#include <solve_hand_eye_calibration.hpp>

Inheritance diagram for moveit_pro::behaviors::SolveHandEyeCalibration< mode >:

Collaboration diagram for moveit_pro::behaviors::SolveHandEyeCalibration< mode >:

Public Member Functions
	SolveHandEyeCalibration (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the Behavior.
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &behavior_context)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.
const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Detailed Description

template<moveit_pro::hand_eye_calibration::CalibrationMode mode>
class moveit_pro::behaviors::SolveHandEyeCalibration< mode >

Solves both unknown transforms of a hand-eye calibration from collected samples.

Registered once per camera arrangement: SolveEyeInHandCalibration (camera on the end effector, board fixed in the world) recovers the camera pose in the end effector frame and the board pose in the robot base frame; SolveEyeToHandCalibration (camera fixed in the world, board on the end effector) recovers the camera pose in the robot base frame and the board pose in the end effector frame. The ports are identical; only what the two recovered poses mean differs. The pose outputs are stamped with the frames the samples were recorded with; only the frame name is set, the timestamp stays zero (which TF consumers read as "latest available").

Synchronous by design: the solve is one small PnP per sample plus a fixed-size linear solve, so the tick cost grows only linearly with the number of collected samples.

The recovered camera pose is the camera optical frame (REP 103 optical convention: z forward, y down), not the camera mount link, because the board observations come from PnP in that frame.

Data Port Name	Port Type	Object Type
samples	input	std::vector<moveit_pro::hand_eye_calibration::CalibrationSample>
camera_name	input	std::string
camera_info	input	sensor_msgs::msg::CameraInfo
camera_pose	output	geometry_msgs::msg::PoseStamped
board_mount_pose	output	geometry_msgs::msg::PoseStamped
used_sample_count	output	int
rotation_residual	output	double
translation_residual	output	double

Constructor & Destructor Documentation

SolveHandEyeCalibration()

template<moveit_pro::hand_eye_calibration::CalibrationMode mode>

moveit_pro::behaviors::SolveHandEyeCalibration< mode >::SolveHandEyeCalibration	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Constructor for the Behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Member Function Documentation

metadata()

template<moveit_pro::hand_eye_calibration::CalibrationMode mode>

BT::KeyValueVector moveit_pro::behaviors::SolveHandEyeCalibration< mode >::metadata ( )

static

providedPorts()

template<moveit_pro::hand_eye_calibration::CalibrationMode mode>

BT::PortsList moveit_pro::behaviors::SolveHandEyeCalibration< mode >::providedPorts ( )

static

tick()

template<moveit_pro::hand_eye_calibration::CalibrationMode mode>

BT::NodeStatus moveit_pro::behaviors::SolveHandEyeCalibration< mode >::tick ( )

override

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The documentation for this class was generated from the following files:

• solve_hand_eye_calibration.hpp
• solve_hand_eye_calibration.cpp