Pose

Same maths as Transform (every method converts and delegates), different intent: a Pose says where something *is*, a Transform says how to move between frames.

Import

from robot_msgs.geometry import Pose

ROS 2geometry_msgs/msg/Pose

Preview

The figure robot_msgs.viz.plot(example) draws for the example below.

Fields

Name	Type	Default
`position`	`Point`	`Point()`
`orientation`	`Quaternion`	`Quaternion()`

Example

One instance from the package's own test catalog; the output is its real repr().

Pose(position=Point(x=0.4, y=-0.1, z=0.25), orientation=Quaternion(x=-0.10566871683993562, y=0.6991667342497077, z=0.10566871683993563, w=0.6991667342497078))

to_dict() as JSON

{
  "_type": "geometry/Pose",
  "position": {
    "_type": "geometry/Point",
    "x": 0.4,
    "y": -0.1,
    "z": 0.25
  },
  "orientation": {
    "_type": "geometry/Quaternion",
    "x": -0.10566871683993562,
    "y": 0.6991667342497077,
    "z": 0.10566871683993563,
    "w": 0.6991667342497078
  }
}

Long arrays are cut after 16 values and say so with “…”.

Functions

Constructors

Classmethods and staticmethods: ways to build one.

`from_array`

from_array(array: Any) -> Pose

No docstring.

`from_matrix`

from_matrix(matrix: Any) -> Pose

No docstring.

`from_xyz_rpy`

from_xyz_rpy(
    x: float,
    y: float,
    z: float,
    roll: float,
    pitch: float,
    yaw: float,
) -> Pose

No docstring.

`identity`

identity() -> Pose

No docstring.

`from_dict`

from Msg

from_dict(data: Mapping[str, Any]) -> M

No docstring.

Methods

Return new values; messages are never mutated.

`as_array`

as_array() -> np.ndarray

(7,) = x y z qx qy qz qw.

`as_transform`

as_transform() -> Transform

No docstring.

`compose`

compose(other: Pose) -> Pose

T_world_tool = T_world_base.compose(T_base_tool): apply other in our frame.

`interpolate`

interpolate(other: Pose, alpha: float) -> Pose

Lerp the position, slerp the orientation; 0 gives self, 1 gives other.

`inverse`

inverse() -> Pose

No docstring.

`rotated`

rotated(
    roll: float = 0.0,
    pitch: float = 0.0,
    yaw: float = 0.0,
    local: bool = False,
) -> Pose

Turned in place by ROS RPY about the parent axes, or its own with local=True.

`shifted`

shifted(
    dx: float = 0.0,
    dy: float = 0.0,
    dz: float = 0.0,
    local: bool = False,
) -> Pose

Moved by (dx, dy, dz) along the parent axes, or the pose's own with local=True:

`to_matrix`

to_matrix() -> np.ndarray

No docstring.

`transform_point`

transform_point(point: V) -> V

Child-frame Point, Vector3 or (..., 3) array to the parent frame (same kind).

`replace`

from Msg

replace(**changes: Any) -> M

A copy with some fields changed. Validation runs again.

`to_dict`

from Msg

to_dict() -> dict[str, Any]

JSON-safe dict with a "_type" key; arrays keep their dtype and shape.

Operators

Python operators and protocols the type supports.

`matmul`

__matmul__(other: object) -> Pose

No docstring.

Uses

Types its fields refer to.

Point Quaternion

Used by

Types whose fields refer to it.

PoseStamped BoundingBox3D ObjectHypothesisWithPose