Struct AbsolutePoseConstraint

• Defined in File pose_optimizer_constraint.h

Inheritance Relationships

Base Type

• public ouster::sdk::mapping::Constraint (Class 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 Eigen::Matrix4d &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).

Eigen::Matrix4d pose = Eigen::Matrix4d::Identity()

The 4x4 transformation matrix (SE3) to constrain to.

double rotation_weight = 1.0

Weight for the rotational component of the constraint.