Obbart/universal_robots_ros_driver
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output simplified chain

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This commit is contained in:
Felix Mauch
2019-05-06 15:11:38 +02:00
parent f00f76d508
commit ceb00d8d6d
1 changed files with 18 additions and 1 deletions
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19
src/calibration_correction.cpp
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@@ -94,6 +94,7 @@ int main(int argc, char* argv[])
}
// my_calibration.reset(new Calibration(my_robot));
/*
for (auto& calib : calibrations)
{
Eigen::Matrix<double, 6, 1> jointvalues;
@@ -150,9 +151,25 @@ int main(int argc, char* argv[])
// calibration.correctChain();
// ROS_INFO_STREAM("Corrected calibration: " << std::endl << calibration.toXacroProperties());
}
// my_calibration->correctChain();
*/
my_calibration->correctChain();
std::vector<Eigen::Matrix4d> corrected_chain = my_calibration->getSimplified();
for (auto& it : corrected_chain)
{
Eigen::Matrix3d rot_a = it.topLeftCorner(3, 3);
Eigen::Vector3d rpy_a = rot_a.eulerAngles(0, 1, 2);
ROS_INFO_STREAM("Translation: [" << it.topRightCorner(3, 1).transpose() << "]");
ROS_INFO_STREAM("Rotation: [" << rpy_a.transpose() << "]");
}
std::ofstream file;
file.open("test.yaml");
my_calibration->writeToYaml(file);
file.close();
// ROS_INFO_STREAM("Corrected calibration: " << std::endl << my_calibration->toXacroProperties());
std::cout << my_calibration->toXacroProperties() << std::endl;
// tf_listener.reset(new tf::TransformListener);