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update checkerboard comment #160

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Feb 6, 2024
Merged

update checkerboard comment #160

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10 changes: 2 additions & 8 deletions robot_calibration/include/robot_calibration/models/chain3d.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,10 +85,10 @@ namespace robot_calibration
* | 11## ### ### ### |
* | ##11 ### ### ### |
* | ### ### ### ### | gripper_link
* | ### ### ### ### | X-axis (increasing row)
* | ### ### ### ### | X-axis
* | | ^
* | _____ | | gripper_link
* | | | | | ----> Z-axis (increasing col)
* | | | | | ----> Y-axis
* | | |
* | | 0<----- gripper_link frame origin
* |__________| |___________
Expand All @@ -98,12 +98,6 @@ namespace robot_calibration
* | Gripper |
* | |
* </PRE>
* For the ideal checkboard:
* - All the checkerboard points should fall on or near Y=0 plane.
* - The intersection points are spread appart by 25mm
* - The X-offset from the gripper frame to the first observation point is 100mm
* - The Z-offset from the gripper frame to the first observation point is -50mm
* The checkboard points are numberered so that the lowest Z value are the first points
*/
class Chain3dModel
{
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