calibReference.h

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/*
 * Copyright (C) 2013 iCub Facility - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
#ifndef __ICUB_OPT_CALIBREFERENCE_H__
#define __ICUB_OPT_CALIBREFERENCE_H__
 
#include <deque>
#include <yarp/os/all.h>
#include <yarp/sig/all.h>
#include <iCub/optimization/matrixTransformation.h>
 
namespace iCub
{
 
namespace optimization
{
 
class CalibReferenceWithMatchedPoints : public MatrixTransformationWithMatchedPoints
{
protected:
    yarp::sig::Vector min, min_s;
    yarp::sig::Vector max, max_s;
    yarp::sig::Vector x0,  s0;
 
    int max_iter;
    double tol;
    double min_s_scalar;
    double max_s_scalar;
    double s0_scalar;
 
    std::deque<yarp::sig::Vector> p0;
    std::deque<yarp::sig::Vector> p1;
 
    double evalError(const yarp::sig::Matrix &H);
 
public:
    CalibReferenceWithMatchedPoints();
 
    virtual void setBounds(const yarp::sig::Matrix &min, const yarp::sig::Matrix &max);
 
    virtual void setBounds(const yarp::sig::Vector &min, const yarp::sig::Vector &max);
 
    virtual void setScalingBounds(const yarp::sig::Vector &min, const yarp::sig::Vector &max);
 
    virtual void setScalingBounds(const double min, const double max);
 
    virtual bool addPoints(const yarp::sig::Vector &p0, const yarp::sig::Vector &p1);
 
    virtual size_t getNumPoints() const { return p0.size(); }
 
    virtual void getPoints(std::deque<yarp::sig::Vector> &p0, std::deque<yarp::sig::Vector> &p1) const;
 
    virtual void clearPoints();
 
    virtual bool setInitialGuess(const yarp::sig::Matrix &H);
 
    virtual bool setScalingInitialGuess(const yarp::sig::Vector &s);
 
    virtual bool setScalingInitialGuess(const double s);
 
    virtual bool setCalibrationOptions(const yarp::os::Property &options);
 
    virtual bool calibrate(yarp::sig::Matrix &H, double &error);
 
    virtual bool calibrate(yarp::sig::Matrix &H, yarp::sig::Vector &s, double &error);
 
    virtual bool calibrate(yarp::sig::Matrix &H, double &s, double &error);
 
    virtual ~CalibReferenceWithMatchedPoints() { }
};
 
}
 
}
 
#endif