Obbart/universal_robots_ros_driver
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also check for rotation errors

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This commit is contained in:
Felix Mauch
2019-03-29 12:57:14 +01:00
parent 579a39a7df
commit 8d3b787b27
1 changed files with 32 additions and 12 deletions
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44
src/calibration_correction.cpp
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@@ -98,9 +98,12 @@ int main(int argc, char* argv[])
{ {
Eigen::Matrix<double, 6, 1> jointvalues; Eigen::Matrix<double, 6, 1> jointvalues;
double min_error = 9999; double pos_min_error = 9999;
double max_error = 0; double pos_max_error = 0;
double mean_error = 0; double pos_mean_error = 0;
double angle_min_error = 9999;
double angle_max_error = 0;
double angle_mean_error = 0;
const size_t num_runs = 100000; const size_t num_runs = 100000;
for (size_t i = 0; i < num_runs; ++i) for (size_t i = 0; i < num_runs; ++i)
{ {
@@ -110,22 +113,39 @@ int main(int argc, char* argv[])
calibration.correctChain(); calibration.correctChain();
Eigen::Matrix4d fk_corrected = calibration.calcForwardKinematics(jointvalues); Eigen::Matrix4d fk_corrected = calibration.calcForwardKinematics(jointvalues);
Eigen::Vector3d error; Eigen::Vector3d pos_error;
error << fk_orig.topRightCorner(3, 1) - fk_corrected.topRightCorner(3, 1); pos_error << fk_orig.topRightCorner(3, 1) - fk_corrected.topRightCorner(3, 1);
if (error.norm() < min_error) if (pos_error.norm() < pos_min_error)
{ {
min_error = error.norm(); pos_min_error = pos_error.norm();
} }
if (error.norm() > max_error) if (pos_error.norm() > pos_max_error)
{ {
max_error = error.norm(); pos_max_error = pos_error.norm();
} }
mean_error += error.norm() / static_cast<double>(num_runs); pos_mean_error += pos_error.norm() / static_cast<double>(num_runs);
Eigen::Matrix3d rot_mat_orig = fk_orig.topLeftCorner(3, 3);
Eigen::Matrix3d rot_mat_corrected = fk_corrected.topLeftCorner(3, 3);
Eigen::Quaterniond rot_orig(rot_mat_orig);
Eigen::Quaterniond rot_corrected(rot_mat_corrected);
double angle_error = std::abs(rot_orig.angularDistance(rot_corrected));
if (angle_error < angle_min_error)
{
angle_min_error = angle_error;
}
if (angle_error > angle_max_error)
{
angle_max_error = angle_error;
}
angle_mean_error += angle_error / static_cast<double>(num_runs);
} }
ROS_INFO_STREAM(calib.first << ": Error over " << num_runs << " joint angles (mean, min, max): (" << mean_error ROS_INFO_STREAM(calib.first << ": Position Error over " << num_runs << " joint angles (mean, min, max): ("
<< ", " << min_error << ", " << max_error << ")"); << pos_mean_error << ", " << pos_min_error << ", " << pos_max_error << ")");
ROS_INFO_STREAM(calib.first << ": Angle Error over " << num_runs << " joint angles (mean, min, max): ("
<< angle_mean_error << ", " << angle_min_error << ", " << angle_max_error << ")");
// Calibration calibration(my_robot + calib.second); // Calibration calibration(my_robot + calib.second);
// calibration.correctChain(); // calibration.correctChain();
// ROS_INFO_STREAM("Corrected calibration: " << std::endl << calibration.toXacroProperties()); // ROS_INFO_STREAM("Corrected calibration: " << std::endl << calibration.toXacroProperties());