DH Parameter Kinematic Chain Representation

Jmeyer1292 / robot_cal_tools

A suite of tools focused on calibration of sensors for robotic workcell development

Apache License 2.0

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DH Parameter Kinematic Chain Representation #44

Closed marip8 closed 4 years ago

marip8 commented 4 years ago

This PR introduces two new items in preparation of developing a kinematic calibration routine:

DH parameter-based kinematic chain representation
Observation generation using kinematic chains

There a little effort making the DH chain class compatible with Ceres templates, but it should be straightforward and better addressed in a separate PR

Builds on #38

marip8 commented 4 years ago

@schornakj any thoughts here?