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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 Calibration Question: Is it possible to fix certain dh parameters? #98

Closed Levi-Armstrong closed 2 years ago

Levi-Armstrong commented 2 years ago

@marip8 Is it possible to fix all dh parameters except theta parameter for each joint?

marip8 commented 2 years ago

Yes, there is a mask parameter in the problem where you can specify which values get optimized

https://github.com/Jmeyer1292/robot_cal_tools/blob/2fd5b85de098fc2e97d06d51addd638304e0610e/rct_optimizations/include/rct_optimizations/dh_chain_kinematic_calibration.h#L57-L67

and a helper function for creating the mask vector from an Eigen matrix of booleans that is the same shape as the DH parameters:

https://github.com/Jmeyer1292/robot_cal_tools/blob/2fd5b85de098fc2e97d06d51addd638304e0610e/rct_optimizations/include/rct_optimizations/dh_chain_kinematic_calibration.h#L10-L16

marip8 commented 2 years ago

Closing; addressed by comment above and the labels were fixed by #99