Index

A

add_best() (roboskin.calibration.data_logger.DataLogger method) add_image_to_md() (in module roboskin.examples.calibration.stats_generator) add_noise() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io) add_outlier() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io) add_table_to_md() (in module roboskin.examples.calibration.stats_generator)

add_temp_pose() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) add_trial() (roboskin.calibration.data_logger.DataLogger method) angle_between_quaternions() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion) append_true_parameters() (in module roboskin.examples.calibration.stats_generator) array_to_table_string() (in module roboskin.examples.calibration.stats_generator)

C

calc_ylim() (in module roboskin.examples.calibration.plot_data) calibrate() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) (roboskin.sensor.sensor.Sensor method) (roboskin.sensor.vl53l1x.VL53L1X_ProximitySensor method) centripetal_acceleration() (in module roboskin.calibration.utils.rotational_acceleration) centripetal_acceleration_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch) check_data() (in module roboskin.examples.calibration.plot_data) choose_optimizer() (in module roboskin.calibration.optimizer) clean_data() (in module roboskin.examples.calibration.plot_data) CombinedErrorFunction (class in roboskin.calibration.error_functions) CombinedStopCondition (class in roboskin.calibration.stop_conditions) compute_2nd_order_derivative() (in module roboskin.calibration.utils.rotational_acceleration) compute_2nd_order_derivative_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch)

compute_acceleration_analytically() (in module roboskin.calibration.utils.rotational_acceleration) compute_acceleration_analytically_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch) compute_acceleration_numerically() (in module roboskin.calibration.utils.rotational_acceleration) compute_acceleration_numerically_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch) compute_joint_TM() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) compute_su_TM() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) construct_kinematic_chain() (in module roboskin.calibration.kinematic_chain) (in module roboskin.calibration.kinematic_chain_torch) convert_to_floating_point() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) ConvertToLT (class in roboskin.calibration.convert_to_lowertriangular_matrix) copy_fnc() (roboskin.calibration.transformation_matrix.TransformationMatrix method) create_cascaded_table() (in module roboskin.examples.calibration.stats_generator)

D

DataLogger (class in roboskin.calibration.data_logger)

DeltaXStopCondition (class in roboskin.calibration.stop_conditions)

E

end_timer() (roboskin.calibration.data_logger.DataLogger method) ErrorFunction (class in roboskin.calibration.error_functions) estimate_acceleration() (in module roboskin.calibration.utils.rotational_acceleration)

estimate_acceleration_batch() (in module roboskin.examples.calibration.plot_data) estimate_acceleration_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch) evaluate() (roboskin.calibration.evaluator.Evaluator method) Evaluator (class in roboskin.calibration.evaluator)

F

find_zero_ndarray() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) fit_sin() (in module roboskin.examples.calibration.plot_data) from_bounds() (roboskin.calibration.transformation_matrix.TransformationMatrix class method)

from_dict() (roboskin.calibration.transformation_matrix.TransformationMatrix class method) from_list() (roboskin.calibration.transformation_matrix.TransformationMatrix class method) from_numpy() (roboskin.calibration.transformation_matrix.TransformationMatrix class method)

G

get_bus_number() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) get_gradients() (roboskin.calibration.optimizer.TorchOptimizerBase method) get_i2c_address() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method)

get_lt_matrix_infos() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) get_params_at() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method)

H

hampel_filter_forloop() (in module roboskin.examples.calibration.plot_data)

I

IncrementalOptimizerBase (class in roboskin.calibration.optimizer) init_temp_TM() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) initialize() (roboskin.calibration.error_functions.CombinedErrorFunction method) (roboskin.calibration.error_functions.ErrorFunction method) (roboskin.calibration.error_functions.MaxAccelerationErrorFunction method) (roboskin.calibration.stop_conditions.CombinedStopCondition method) (roboskin.calibration.stop_conditions.DeltaXStopCondition method) (roboskin.calibration.stop_conditions.MaxCountStopCondition method) (roboskin.calibration.stop_conditions.StopCondition method) (roboskin.sensor.vl53l1x.VL53L1X_ProximitySensor method)

initialize_logging() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io) initialize_optimizers_and_loggers() (in module roboskin.examples.calibration.analyze_method_robustness) is_first() (in module roboskin.examples.calibration.plot_data) is_last() (in module roboskin.examples.calibration.plot_data) is_left() (in module roboskin.examples.calibration.plot_data) is_lower_triangular_fn() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) is_lsm6ds3() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) is_matrix_lt_convertible() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) is_square_matrix() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method)

K

KinematicChain (class in roboskin.calibration.kinematic_chain)

KinematicChainTorch (class in roboskin.calibration.kinematic_chain_torch)

L

L1Loss (class in roboskin.calibration.loss) L1LossTorch (class in roboskin.calibration.loss) L2Loss (class in roboskin.calibration.loss) L2LossTorch (class in roboskin.calibration.loss) list_to_html_table() (in module roboskin.examples.calibration.stats_generator) load_data() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io)

load_robot_configs() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io) Loss (class in roboskin.calibration.loss) low_pass_filter() (in module roboskin.examples.calibration.plot_data) LSM6DS3_IMU (class in roboskin.sensor.lsm6ds3)

M

main_algorithm() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) make_16bit_value() (in module roboskin.sensor.utils) max_angle_func() (in module roboskin.calibration.error_functions) (in module roboskin.calibration.error_functions_torch) MaxAccelerationErrorFunction (class in roboskin.calibration.error_functions) MaxAccelerationErrorFunctionTorch (class in roboskin.calibration.error_functions_torch) MaxCountStopCondition (class in roboskin.calibration.stop_conditions) MeanAbsoluteLoss (class in roboskin.calibration.loss) MeanSquareLoss (class in roboskin.calibration.loss) MittendorferMethodOptimizer (class in roboskin.calibration.optimizer) MixedIncrementalOptimizer (class in roboskin.calibration.optimizer) mm_fnc() (roboskin.calibration.transformation_matrix.TransformationMatrix method) module roboskin roboskin.calibration roboskin.calibration.convert_to_lowertriangular_matrix roboskin.calibration.data_logger roboskin.calibration.error_functions roboskin.calibration.error_functions_torch roboskin.calibration.evaluator roboskin.calibration.kinematic_chain roboskin.calibration.kinematic_chain_torch roboskin.calibration.loss roboskin.calibration.optimizer roboskin.calibration.stop_conditions roboskin.calibration.transformation_matrix roboskin.calibration.utils roboskin.calibration.utils.io roboskin.calibration.utils.quaternion roboskin.calibration.utils.rotational_acceleration roboskin.calibration.utils.rotational_acceleration_torch roboskin.const roboskin.examples roboskin.examples.calibration roboskin.examples.calibration.analyze_method_robustness roboskin.examples.calibration.calibrate_imu_poses roboskin.examples.calibration.plot_data roboskin.examples.calibration.stats_generator roboskin.sensor roboskin.sensor.lsm6ds3 roboskin.sensor.sensor roboskin.sensor.utils roboskin.sensor.vl53l1x

N

n2s() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io) nlopt_objective() (roboskin.calibration.optimizer.TorchOptimizerBase method) np_to_pyqt() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion)

numpy() (roboskin.calibration.transformation_matrix.TransformationMatrix method) numpy_() (roboskin.calibration.transformation_matrix.TransformationMatrix method) numpyarray_toint() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method)

O

objective() (roboskin.calibration.optimizer.MixedIncrementalOptimizer method) (roboskin.calibration.optimizer.SeparateIncrementalOptimizer method) optimize() (roboskin.calibration.optimizer.IncrementalOptimizerBase method) (roboskin.calibration.optimizer.OptimizerBase method) (roboskin.calibration.optimizer.TorchOptimizerBase method)

OptimizerBase (class in roboskin.calibration.optimizer) OurMethodOptimizer (class in roboskin.calibration.optimizer) outlier_index() (in module roboskin.calibration.utils.io)

P

parameters() (roboskin.calibration.transformation_matrix.TransformationMatrix property) parse_arguments() (in module roboskin.examples.calibration.calibrate_imu_poses) parse_datadir() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.io) PassThroughStopCondition (class in roboskin.calibration.stop_conditions) plot_in_one_graph() (in module roboskin.examples.calibration.plot_data)

plot_performance() (in module roboskin.examples.calibration.analyze_method_robustness) plot_side_by_side() (in module roboskin.examples.calibration.plot_data) position() (roboskin.calibration.transformation_matrix.TransformationMatrix property) pyqt_to_np() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion) pyqt_to_tf() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion)

Q

quaternion() (roboskin.calibration.transformation_matrix.TransformationMatrix property) quaternion_from_two_vectors() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion)

quaternion_l2_distance() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion)

R

R() (roboskin.calibration.transformation_matrix.TransformationMatrix property) read() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) (roboskin.sensor.sensor.Sensor method) (roboskin.sensor.vl53l1x.VL53L1X_ProximitySensor method) read_raw() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) (roboskin.sensor.vl53l1x.VL53L1X_ProximitySensor method) read_raw_accels() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_accelX() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_accelY() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_accelZ() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_gyros() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_gyroX() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_gyroY() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) read_raw_gyroZ() (roboskin.sensor.lsm6ds3.LSM6DS3_IMU method) remove_centripetal_component() (in module roboskin.calibration.utils.rotational_acceleration) remove_centripetal_component_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch) reset_poses() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) result() (roboskin.calibration.optimizer.OptimizerBase property) roboskin module roboskin.calibration module roboskin.calibration.convert_to_lowertriangular_matrix module roboskin.calibration.data_logger module roboskin.calibration.error_functions module roboskin.calibration.error_functions_torch module roboskin.calibration.evaluator module roboskin.calibration.kinematic_chain module roboskin.calibration.kinematic_chain_torch module roboskin.calibration.loss module roboskin.calibration.optimizer module

roboskin.calibration.stop_conditions module roboskin.calibration.transformation_matrix module roboskin.calibration.utils module roboskin.calibration.utils.io module roboskin.calibration.utils.quaternion module roboskin.calibration.utils.rotational_acceleration module roboskin.calibration.utils.rotational_acceleration_torch module roboskin.const module roboskin.examples module roboskin.examples.calibration module roboskin.examples.calibration.analyze_method_robustness module roboskin.examples.calibration.calibrate_imu_poses module roboskin.examples.calibration.plot_data module roboskin.examples.calibration.stats_generator module roboskin.sensor module roboskin.sensor.lsm6ds3 module roboskin.sensor.sensor module roboskin.sensor.utils module roboskin.sensor.vl53l1x module run_optimizations() (in module roboskin.examples.calibration.analyze_method_robustness)

S

save() (roboskin.calibration.data_logger.DataLogger method) save_plt() (in module roboskin.examples.calibration.stats_generator) savefig() (in module roboskin.examples.calibration.plot_data) Sensor (class in roboskin.sensor.sensor) SeparateIncrementalOptimizer (class in roboskin.calibration.optimizer) set_captions() (in module roboskin.examples.calibration.plot_data) set_linkdh() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) set_params() (roboskin.calibration.transformation_matrix.TransformationMatrix method) set_params_at() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method)

set_poses() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) set_sudh() (roboskin.calibration.kinematic_chain.KinematicChain method) (roboskin.calibration.kinematic_chain_torch.KinematicChainTorch method) SmoothL1LossTorch (class in roboskin.calibration.loss) sort_columns_in_descending_order() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) sort_rows_in_ascending_order() (roboskin.calibration.convert_to_lowertriangular_matrix.ConvertToLT method) start_timer() (roboskin.calibration.data_logger.DataLogger method) StaticErrorFunction (class in roboskin.calibration.error_functions) StaticErrorFunctionTorch (class in roboskin.calibration.error_functions_torch) stop() (roboskin.sensor.vl53l1x.VL53L1X_ProximitySensor method) StopCondition (class in roboskin.calibration.stop_conditions)

T

t2s() (in module roboskin.calibration.utils.io) tangential_acceleration() (in module roboskin.calibration.utils.rotational_acceleration) tangential_acceleration_torch() (in module roboskin.calibration.utils.rotational_acceleration_torch) tensor() (roboskin.calibration.transformation_matrix.TransformationMatrix method) tensor_() (roboskin.calibration.transformation_matrix.TransformationMatrix method)

tf_to_pyqt() (in module roboskin.calibration.utils) (in module roboskin.calibration.utils.quaternion) TorchOptimizerBase (class in roboskin.calibration.optimizer) transformation_matrix() (roboskin.calibration.transformation_matrix.TransformationMatrix method) TransformationMatrix (class in roboskin.calibration.transformation_matrix) twos_comp() (in module roboskin.sensor.utils)

U

update() (roboskin.calibration.stop_conditions.CombinedStopCondition method) (roboskin.calibration.stop_conditions.DeltaXStopCondition method) (roboskin.calibration.stop_conditions.MaxCountStopCondition method) (roboskin.calibration.stop_conditions.PassThroughStopCondition method) (roboskin.calibration.stop_conditions.StopCondition method)

use_max_accel_point() (roboskin.calibration.error_functions.MaxAccelerationErrorFunction method)

V

vanilla_optimizer() (roboskin.calibration.optimizer.TorchOptimizerBase method) verify_acceleration_estimate() (in module roboskin.examples.calibration.plot_data)

verify_noise_added_correctly() (in module roboskin.examples.calibration.plot_data) VL53L1X_ProximitySensor (class in roboskin.sensor.vl53l1x)

Y

ylims_by_rows() (in module roboskin.examples.calibration.plot_data)