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Pose

Inherits from: object A class to represent the pose (position and orientation) of the robot. Attributes: position (Position): The position component of the pose. orientation (Orientation): The orientation component of the pose.

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init

Pose.__init__(position: Position, orientation: Orientation) -> None
Initialize a Pose with position and orientation.
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Arguments
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position (Position)
Position
required
The position component of the pose
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orientation (Orientation)
Orientation
required
The orientation component of the pose
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Returns
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returns
None

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init

Pose.__init__(homogeneous_matrix: np.ndarray) -> None
Initialize a Pose with a homogeneous matrix.
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Arguments
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homogeneous_matrix (np.ndarray)
np.ndarray
required
4x4 homogeneous transformation matrix
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Returns
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returns
None

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init

Pose.__init__(pose_array: Union[list, np.ndarray]) -> None
Initialize a Pose with a 7-element array [x, y, z, qx, qy, qz, qw].
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Arguments
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pose_array (Union[list, np.ndarray])
Union[list, np.ndarray]
required
7-element array containing position and quaternion
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Returns
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returns
None

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init

Pose.__init__(*args, **kwargs)
No docstring provided.
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Arguments
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args
No description provided.
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kwargs
No description provided.

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to_matrix

Pose.to_matrix() -> np.ndarray
Convert Pose to a 4x4 homogeneous transformation matrix.
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Returns
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np.ndarray
np.ndarray
4x4 homogeneous transformation matrix

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to_dict

Pose.to_dict() -> dict
Serialize to dictionary for JSON transfer.
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Returns
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dict
dict
Dictionary representation of the pose

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from_dict

Pose.from_dict(data: dict) -> 'Pose'
Deserialize from dictionary.
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Arguments
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data (dict)
dict
required
Dictionary containing pose data
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Returns
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Pose
'Pose'
Reconstructed pose object