pyrobosim.utils.pose.Pose

class pyrobosim.utils.pose.Pose(x: float = 0.0, y: float = 0.0, z: float = 0.0, roll: float = 0.0, pitch: float = 0.0, yaw: float = 0.0, q: list[float] | None = None, angle_units: str = 'radians')

Represents a 3D pose.

Methods

__init__([x, y, z, roll, pitch, yaw, q, ...])	Creates a new Pose object.
construct(data)	Constructs a pose object from any of the allowable input types.
from_dict(pose_dict)	Creates a pose from a dictionary.
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.
get_rotation_matrix()	Gets a rotation matrix from the pose representation.
get_transform_matrix()	Gets a homogeneous transformation matrix from the pose representation.
get_translation()	Gets the pose x y and z of the pose as an array.
get_translation_matrix()	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.
set_quaternion(q)	Sets the orientation component as a quaternion.
to_dict()	Converts the pose instance to a dictionary compatible with YAML.