rigid_body_motion.lookup_pose¶
- rigid_body_motion.lookup_pose(frame, reference, as_dataset=False, return_timestamps=False)[source]¶
Look up pose of one frame wrt a reference.
- Parameters
- frame: str or ReferenceFrame
Frame for which to look up the pose.
- reference: str or ReferenceFrame
Reference frame of the pose.
- as_dataset: bool, default False
If True, return an xarray.Dataset. Otherwise, return a tuple of position and orientation.
- return_timestamps: bool, default False
If True, and as_dataset is False, also return the timestamps of the lookup.
- Returns
- position, orientation: each numpy.ndarray
Position and orientation of the pose between the frames, if as_dataset is False.
- timestamps: numpy.ndarray
Corresponding timestamps of the lookup if return_timestamps is True.
- ds: xarray.Dataset
The above arrays as an xarray.Dataset, if as_dataset is True.