> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Pose

## 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.

### **init**

```python theme={null}
Pose.__init__(position: Position, orientation: Orientation) -> None
```

Initialize a Pose with position and orientation.

<ResponseField name="Arguments">
  <ParamField query="position (Position)" type="Position" required>
    The position component of the pose
  </ParamField>

  <ParamField query="orientation (Orientation)" type="Orientation" required>
    The orientation component of the pose
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="returns" type="None" />
</ResponseField>

### **init**

```python theme={null}
Pose.__init__(homogeneous_matrix: np.ndarray) -> None
```

Initialize a Pose with a homogeneous matrix.

<ResponseField name="Arguments">
  <ParamField query="homogeneous_matrix (np.ndarray)" type="np.ndarray" required>
    4x4 homogeneous transformation matrix
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="returns" type="None" />
</ResponseField>

### **init**

```python theme={null}
Pose.__init__(pose_array: Union[list, np.ndarray]) -> None
```

Initialize a Pose with a 7-element array \[x, y, z, qx, qy, qz, qw].

<ResponseField name="Arguments">
  <ParamField query="pose_array (Union[list, np.ndarray])" type="Union[list, np.ndarray]" required>
    7-element array containing position and quaternion
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="returns" type="None" />
</ResponseField>

### **init**

```python theme={null}
Pose.__init__(*args, **kwargs)
```

*No docstring provided.*

<ResponseField name="Arguments">
  <ParamField query="args" type="">
    *No description provided.*
  </ParamField>

  <ParamField query="kwargs" type="">
    *No description provided.*
  </ParamField>
</ResponseField>

### to\_matrix

```python theme={null}
Pose.to_matrix() -> np.ndarray
```

Convert Pose to a 4x4 homogeneous transformation matrix.

<ResponseField name="Returns">
  <ResponseField name="np.ndarray" type="np.ndarray">
    4x4 homogeneous transformation matrix
  </ResponseField>
</ResponseField>

### to\_dict

```python theme={null}
Pose.to_dict() -> dict
```

Serialize to dictionary for JSON transfer.

<ResponseField name="Returns">
  <ResponseField name="dict" type="dict">
    Dictionary representation of the pose
  </ResponseField>
</ResponseField>

### from\_dict

```python theme={null}
Pose.from_dict(data: dict) -> 'Pose'
```

Deserialize from dictionary.

<ResponseField name="Arguments">
  <ParamField query="data (dict)" type="dict" required>
    Dictionary containing pose data
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="Pose" type="'Pose'">
    Reconstructed pose object
  </ResponseField>
</ResponseField>