Obbart/universal_robots_ros_driver
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Made calibration extraction a working node.

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This commit is contained in:
Felix Mauch
2019-05-28 10:03:23 +02:00
parent 22f392222e
commit 157b5a696c
7 changed files with 153 additions and 150 deletions
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7
ur_calibration/src/calibration.cpp
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@@ -14,6 +14,8 @@
#include <ur_calibration/calibration.h>
namespace ur_calibration
{
Calibration::Calibration(const DHRobot& robot_parameters) : robot_parameters_(robot_parameters)
{
buildChain();
@@ -206,7 +208,7 @@ std::vector<Eigen::Matrix4d> Calibration::getSimplified() const
return simplified_chain;
}
void Calibration::writeToYaml(std::ofstream& ofstream) const
YAML::Node Calibration::toYaml() const
{
YAML::Node node;
@@ -226,5 +228,6 @@ void Calibration::writeToYaml(std::ofstream& ofstream) const
node["kinematics"][link_names_[i]] = link;
}
ofstream << node;
return node;
}
} // namespace ur_calibration