Pose

A 6-degree-freedom pose (3D position and 3D rotation). See Tait–Bryan angles: z-y'-x"

class Pose

Usage

import {Pose} from '@math.gl/core';

Members

x, y z

Gets or sets position components respectively

roll, pitch, yaw

Gets or sets rotation components respectively

Methods

constructor

new Pose({x, y, z, roll, pitch, yaw});
new Pose({position, orientation});

• x, y, z - position
• roll, pitch, yaw - rotation in radians
• position - Vector3 or array of 3 that represents the position
• orientation - Euler or array of 4 that represents the rotation

getPosition

pose.getPosition()

Returns Vector3.

getOrientation

pose.getOrientation()

Returns Euler.

equals

pose.equals(otherPose)

exactEquals

pose.exactEquals(otherPose)

getTransformationMatrix

pose.getTransformationMatrix()

Returns a 4x4 matrix that transforms a coordinates (in the same coordinate system as this pose) into the "pose-relative" coordinate system defined by this pose.

The pose relative coordinates with have origin in the position of this pose, and axis will be aligned with the rotation of this pose.

Returns Matrix4.

getTransformationMatrixFromPose

pose.getTransformationMatrixFromPose(otherPose)

Given a second pose that represent the same object in a second coordinate system, this method returns a 4x4 matrix that transforms coordinates in the second coordinate system into the coordinate system of this pose.

Returns Matrix4.

getTransformationMatrixToPose

pose.getTransformationMatrixToPose(otherPose)

Given a second pose that represent the same object in a second coordinate system, this method returns a 4x4 matrix that transforms coordinates in the coordinate system of this pose into the coordinate system of the second pose.

Returns Matrix4.