casadi_wrapper.h File Reference

#include <Eigen/Core>
#include <sleipnir/optimization/SolverExitCondition.hpp>
#include <wpi/expected>

Go to the source code of this file.

Classes
struct	constrained_solvepnp::CameraCalibration
	Pinhole camera coefficients. More...

Namespaces
namespace	constrained_solvepnp

Typedefs
using	constrained_solvepnp::casadi_real = double
using	constrained_solvepnp::RobotStateMat = Eigen::Matrix<casadi_real, 3, 1>

Functions
wpi::expected< RobotStateMat, sleipnir::SolverExitCondition >	constrained_solvepnp::do_optimization (bool heading_free, int nTags, CameraCalibration cameraCal, Eigen::Matrix< casadi_real, 4, 4, Eigen::ColMajor > robot2camera, RobotStateMat x_guess, Eigen::Matrix< casadi_real, 4, Eigen::Dynamic, Eigen::ColMajor > field2points, Eigen::Matrix< casadi_real, 2, Eigen::Dynamic, Eigen::ColMajor > point_observations, double gyroθ, double gyroErrorScaleFac)
	Optimize x, where x is [x, y, theta]^T.