Pose

class pyniryo_nate.models.geometry.Pose(position: Point, orientation: Quaternion | EulerAngles)[source]

Bases: object

Represents a pose in 3D space, defined by a position and an orientation.

  • The position is represented by a Point (x, y, z).

  • The orientation can be represented either as a Quaternion (x, y, z, w) or as Euler angles (roll, pitch, yaw).

The choice between Quaternion and Euler angles is left to the user. Keep in mind that the Nate API expects orientations to be sent as Quaternions, so Euler angles will be automatically converted to Quaternions when sending commands to the API.

Attributes

position

orientation

Methods

from_sequence

from_transport_model

to_transport_model

Parameters:
position: Point
orientation: Quaternion | EulerAngles
classmethod from_sequence(x: float, y: float, z: float, rx: float, ry: float, rz: float, rw: float | None = None) → Pose[source]
Parameters:

  • x (float)

  • y (float)

  • z (float)

  • rx (float)

  • ry (float)

  • rz (float)

  • rw (float | None)

Return type:

Pose

classmethod from_transport_model(model: Pose | Pose) → Pose[source]
Parameters:

model (Pose | Pose)

Return type:

Pose

to_transport_model() → Pose[source]
Return type:

Pose