Pose Class

This page covers the Pose and Pose2D class. For the 3D Pose class, this class is a wrapper around the following:

• scipy.spatial.transform.Rotation Documentation Link
• numpy.array Documentation Link

The 2D Pose2D class is a wrapper around the following:

• pose_python.Rotation2D
• numpy.array Documentation Link

The documentation for these classes can be found by clicking on their respective links.

Member Variables

Name	Type	Description
name	str	String to hold the name of the pose. This variable must be set when a new instance of the class is created.
position	numpy.ndarray	3D array meant to to hold the position element of the pose.
orientation	scipy.spatial.transform.Rotation	Rotation element meant to hold the orientation of the pose.

Class Methods

Name	Description
__init__	Constructor function: Requires name to be set, will set the position to [0, 0, 0] and the rotation to identity.
print	Print the elements of the pose to the console (will print the rotation in euler angles).
random	Set the position and rotation to random (mostly used for testing purposes).

Requirements

Name	Description	Code Link	Documentation Link
numpy	The fundamental package for scientific computing with Python	https://github.com/numpy/numpy	https://numpy.org/doc/
scipy	General management of scientific data	https://github.com/scipy/scipy	https://docs.scipy.org/doc/scipy-1.8.1/