Class Pose

Represents where an object is in the world.

Whenever Vector is delocalized (i.e.whenever Vector no longer knows where he is - e.g.when he's picked up), Vector creates a new pose starting at (0,0,0) with no rotation, with origin_id incremented to show that these poses cannot be compared with earlier ones. As Vector drives around, his pose (and the pose of other objects he observes - e.g.faces, his LightCube, charger, etc.) is relative to this initial position and orientation.

The coordinate space is relative to Vector, where Vector's origin is the point on the ground between Vector's two front wheels. The X axis is Vector's forward direction, the Y axis is to Vector's left, and the Z axis is up.

Only poses of the same origin can safely be compared or operated on.

Inheritance

Object

Pose

Implements

IEquatable<Pose>

Namespace: Anki.Vector.Types

Assembly: Anki.Vector.dll

Syntax

public class Pose : IEquatable<Pose>

Constructors

Pose()

Initializes a new instance of the Pose class.

public Pose()

Pose(Position, Quaternion, Nullable<UInt32>)

Initializes a new instance of the Pose class.

public Pose(Position position, Quaternion rotation, uint? originId)

Parameters

Type	Name	Description
Position	position	The position.
Quaternion	rotation	The rotation.
Nullable<UInt32>	originId	The origin identifier.

Properties

IsValid

Returns true if this Pose is valid.

public bool IsValid { get; }

Property Type

Boolean

OriginId

Gets the origin identifier.

public uint? OriginId { get; }

Property Type

Nullable<UInt32>

Position

Gets the position component of this pose.

public Position Position { get; }

Property Type

Position

Rotation

Gets the rotation component of this pose.

public Quaternion Rotation { get; }

Property Type

Quaternion

Methods

Equals(Pose)

Indicates whether the current object is equal to another object of the same type.

public bool Equals(Pose other)

Parameters

Type	Name	Description
Pose	other	An object to compare with this object.

Returns

Type	Description
Boolean	true if the current object is equal to the other parameter; otherwise, false.

Equals(Object)

Determines whether the specified Object, is equal to this instance.

public override bool Equals(object obj)

Parameters

Type	Name	Description
Object	obj	The Object to compare with this instance.

Returns

Type	Description
Boolean	true if the specified Object is equal to this instance; otherwise, false.

Overrides

Object.Equals(Object)

GetHashCode()

Returns a hash code for this instance.

public override int GetHashCode()

Returns

Type	Description
Int32	A hash code for this instance, suitable for use in hashing algorithms and data structures like a hash table.

Overrides

Object.GetHashCode()

IsComparable(Pose)

Checks whether these two poses are comparable. Poses are comparable if they have the same origin.

public bool IsComparable(Pose other)

Parameters

Type	Name	Description
Pose	other	The other pose to compare against.

Returns

Type	Description
Boolean	true if the other pose is comparable; otherwise, false.

RelativeToThis(Pose)

Creates a new pose such that newPose's origin is now at the location of this pose.

public Pose RelativeToThis(Pose newPose)

Parameters

Type	Name	Description
Pose	newPose	The pose which origin is being changed.

Returns

Type	Description
Pose	A new pose relative to this pose

ToString()

Converts to string.

public override string ToString()

Returns

Type	Description
String	A String that represents this instance.

Overrides

Object.ToString()

Operators

Equality(Pose, Pose)

Implements the operator ==.

public static bool operator ==(Pose lhs, Pose rhs)

Parameters

Type	Name	Description
Pose	lhs	The LHS.
Pose	rhs	The RHS.

Returns

Type	Description
Boolean	The result of the operator.

Inequality(Pose, Pose)

Implements the operator !=.

public static bool operator !=(Pose lhs, Pose rhs)

Parameters

Type	Name	Description
Pose	lhs	The LHS.
Pose	rhs	The RHS.

Returns

Type	Description
Boolean	The result of the operator.

Implements

System.IEquatable<T>