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Public pose types and convenience constructors.

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Position Objects

3-D position (translation).

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CompositePose Objects

Rotation + position pair.

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AffinePose Objects

4x4 affine transform matrix (16 floats, column-major). The 16 values are stored column-by-column:: Given the matrix: | r00 r01 r02 tx | | r10 r11 r12 ty | | r20 r21 r22 tz | | 0 0 0 1 | Flat order: [r00, r10, r20, 0, r01, r11, r21, 0, r02, r12, r22, 0, tx, ty, tz, 1] The upper-left 3x3 must be a proper rotation matrix (orthogonal, det = 1). The fourth column is translation and the fourth row must be [0, 0, 0, 1]. These constraints are enforced server-side.

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quaternion_pose

Create a pose from a unit quaternion rotation and a position. The quaternion must have unit magnitude (server-side validated). See QuaternionRotation for constraints. Arguments:
  • qx - Quaternion x component (in [-1, 1]).
  • qy - Quaternion y component (in [-1, 1]).
  • qz - Quaternion z component (in [-1, 1]).
  • qw - Quaternion w (scalar) component (in [-1, 1]).
  • x - Translation along the world x-axis.
  • y - Translation along the world y-axis.
  • z - Translation along the world z-axis.

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euler_pose

Create a pose from Euler angles (radians) and a position. Rotation order is extrinsic X-Y-Z. See EulerRotation for constraints. Arguments:
  • rx - Rotation around the x-axis in radians.
  • ry - Rotation around the y-axis in radians.
  • rz - Rotation around the z-axis in radians.
  • x - Translation along the world x-axis.
  • y - Translation along the world y-axis.
  • z - Translation along the world z-axis.

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matrix_pose

Create a pose from a 3x3 rotation matrix and a position. See MatrixRotation for constraints (orthogonal, det = 1). Arguments:
  • rotation - Nine floats in column-major order representing a 3x3 rotation matrix.
  • x - Translation along the world x-axis.
  • y - Translation along the world y-axis.
  • z - Translation along the world z-axis.

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affine_transform

Create a pose from a 4x4 affine transform matrix. See AffinePose for constraints (rotation submatrix must be proper, bottom row [0, 0, 0, 1]). Arguments:
  • matrix - Sixteen floats in column-major order. The fourth row must be [0, 0, 0, 1].

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identity_pose

Return the identity pose (no rotation, no translation).

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translation_only

Create a pose with translation but no rotation. Arguments:
  • x - Translation along the world x-axis.
  • y - Translation along the world y-axis.
  • z - Translation along the world z-axis.

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rotation_only

Create a pose with rotation but no translation. Arguments:
  • rotation - Any supported rotation type (quaternion, Euler, or matrix).