pyrobosim.utils.pose.Pose
- class pyrobosim.utils.pose.Pose(x=0.0, y=0.0, z=0.0, roll=0.0, pitch=0.0, yaw=0.0, q=None)
Represents a 3D pose.
Methods
__init__
([x, y, z, roll, pitch, yaw, q])Creates a new Pose object.
from_list
(plist)Creates a pose from a list.
from_transform
(tform)Creates a pose from a transformation matrix.
get_angular_distance
(other)Gets the angular distance between two poses, wrapped in the range [-pi, pi].
get_linear_distance
(other[, ignore_z])Gets the straight-line distance between two poses.
Gets a rotation matrix from the pose representation.
Gets a homogeneous transformation matrix from the pose representation.
Gets the pose x y and z of the pose as an array.
Gets a translation matrix from the pose representation.
get_yaw
()Gets the yaw angle, in radians.
is_approx
(other[, rel_tol, abs_tol])Check if two poses are approximately equal with a tolerance.
set_euler_angles
([roll, pitch, yaw])Sets the orientation component as Euler angles.
Sets the orientation component as a quaternion.