calib::MotionPair Struct Reference

Motion pair structure for hand-eye calibration. More...

#include <handeye.h>

Public Attributes
Eigen::Matrix3d	rot_a
Eigen::Matrix3d	rot_b
	Rotation matrices for motions A and B.
Eigen::Vector3d	tra_a
Eigen::Vector3d	tra_b
	Translation vectors for motions A and B.

Detailed Description

Motion pair structure for hand-eye calibration.

Represents a pair of corresponding motions between two coordinate frames:

• Motion A: typically robot base to gripper transformation
• Motion B: typically camera to target transformation

Used in solving the AX=XB hand-eye calibration problem.

Definition at line 34 of file handeye.h.

Member Data Documentation

rot_a

Eigen::Matrix3d calib::MotionPair::rot_a

Definition at line 35 of file handeye.h.

rot_b

Eigen::Matrix3d calib::MotionPair::rot_b

Rotation matrices for motions A and B.

Definition at line 35 of file handeye.h.

tra_a

Eigen::Vector3d calib::MotionPair::tra_a

Definition at line 36 of file handeye.h.

tra_b

Eigen::Vector3d calib::MotionPair::tra_b

Translation vectors for motions A and B.

Definition at line 36 of file handeye.h.

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The documentation for this struct was generated from the following file:

• /home/runner/work/calibration/calibration/include/calib/estimation/linear/handeye.h