simulation.utils.geometry.pose module

Pose.

Summary

Classes:

Pose	Pose class consisting of a position and an orientation.

Reference

class Pose(*args, frame=None)

Bases: object

Pose class consisting of a position and an orientation.

A Pose object can be used to describe the state of an object with a position and an orientation. Initialization can be done in one of the following ways:

Parameters

• 1 (geometry_msgs/Pose) – initialize from geometry_msgs.

• 2 (Point, float) – Second argument is the poses’s orientation angle in radians.

• 3 (Point, pyquaternion.Quaternion) – Point and quaternion.

position

Type

Point

orientation

Type

pyquaternion.Quaternion

get_angle(axis=Vector(0.0, 0.0, 1.0)) → float

Angle of orientation.

Returns

The angle that a vector is rotated, when this transformation is applied.

to_geometry_msg() → geometry_msgs.msg._Pose.Pose

To ROS geometry_msg.

Returns

This pose as a geometry_msgs/Pose.