Struct AbsolutePoseConstraint¶

Defined in File pose_optimizer_constraint.h

Inheritance Relationships¶

Base Type¶

public ouster::sdk::mapping::ConstraintClass Constraint

Struct Documentation¶

struct AbsolutePoseConstraint : public ouster::sdk::mapping::Constraint ¶

Absolute pose constraint.

Public Functions

inline AbsolutePoseConstraint()¶: Default constructor.

inline AbsolutePoseConstraint(uint64_t timestamp, const core::Matrix4dR &pose, double rotation_weight = 1.0, const Eigen::Array3d &translation_weights = Eigen::Array3d::Ones())¶

Construct an AbsolutePoseConstraint.

Parameters:

timestamp[in] Timestamp of the pose to constrain (nanoseconds).
pose[in] 4x4 homogeneous transform representing the pose.
rotation_weight[in] Optional rotation weight applied to the rotational residual.
translation_weights[in] Optional translation weights (x,y,z).

inline virtual ConstraintType get_type() const override¶

Get the constraint type.

Returns:: ConstraintType The constraint category.

inline virtual std::unique_ptr<Constraint> clone() const override¶

Clone this AbsolutePoseConstraint.

The clone preserves the constraint id.

Returns:: std::unique_ptr<Constraint> A deep copy of this constraint.

Public Members

uint64_t timestamp¶: Timestamp of the pose to constrain (nanoseconds).

core::Matrix4dR pose = core::Matrix4dR::Identity()¶: The 4x4 transformation matrix (SE3) to constrain to.

double rotation_weight = 1.0¶: Weight for the rotational component of the constraint.