Fawkes API
Fawkes Development Version
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21 #ifndef YAW_CALIBRATION_H
22 #define YAW_CALIBRATION_H
24 #include "laser_calibration.h"
35 std::string config_path);
40 float get_new_yaw(
float current_cost,
float last_yaw);
54 std::map<float, float>
costs_;
float min_cost_
The minimal cost.
float step_
The current step size.
float get_current_cost(float *new_yaw)
Get the cost of the current configuration.
float get_new_yaw(float current_cost, float last_yaw)
Compute the new yaw.
YawCalibration(LaserInterface *laser, LaserInterface *front_laser, fawkes::tf::Transformer *tf_transformer, fawkes::NetworkConfiguration *config, std::string config_path)
Constructor.
LaserInterface * front_laser_
The laser interface used to read the front laser data from.
float min_cost_yaw_
A yaw configuration with the minimal cost.
std::uniform_real_distribution< float > random_float_dist_
The distribution used to compute the random reset probability.
std::mt19937 random_generator_
Random number generator used to compute the random reset probability.
std::map< float, float > costs_
A map of yaw config values to costs.
const float init_step_
The initial step size.
virtual void calibrate()
The actual calibration.